Method, apparatus, and system for human recognition based on gait features

ABSTRACT

Methods, apparatus and systems for human recognition based on one or more gait features detected wirelessly are described. In one example, a described system comprises: a transmitter configured to transmit a first wireless signal through a wireless channel of a venue; a receiver configured to receive a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; and a processor. The processor is configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is related to U.S. patent application, entitled “METHOD, APPARATUS, AND SYSTEM FOR SOUND SENSING BASED ON WIRELESS SIGNALS,” filed on Oct. 2, 2021, which is expressly incorporated by reference herein in its entirety.

The present application hereby incorporates by reference the entirety of the disclosures of, and claims priority to, each of the following cases:

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No. 16/798,343, entitled “METHOD, APPARATUS, AND SYSTEM FOR         WIRELESS OBJECT TRACKING”, filed on Feb. 22, 2020,         -   a. which is a Continuation-in-Part of U.S. patent             application Ser. No. 16/798,337, entitled “METHOD,             APPARATUS, AND SYSTEM FOR WIRELESS OBJECT SCANNING”, filed             Feb. 22, 2020, issued as U.S. Pat. No. 10,845,463 on Nov.             24, 2020, -   (z) U.S. patent application Ser. No. 17/180,762, entitled “METHOD,     APPARATUS, AND SYSTEM FOR FALL-DOWN DETECTION BASED ON A WIRELESS     SIGNAL”, filed on Feb. 20, 2021, -   (aa) U.S. patent application Ser. No. 17/180,760, entitled “METHOD,     APPARATUS, AND SYSTEM FOR WIRELESS MATERIAL SENSING”, filed on Feb.     20, 2021, -   (bb) U.S. patent application Ser. No. 17/180,766, entitled “METHOD,     APPARATUS, AND SYSTEM FOR WIRELESS MOTION RECOGNITION”, filed on     Feb. 20, 2021, -   (cc) U.S. patent application Ser. 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TECHNICAL FIELD

The present teaching generally relates to human recognition. More specifically, the present teaching relates to human recognition based on one or more gait features detected wirelessly by processing wireless channel information (CI).

BACKGROUND

Ubiquitous human recognition acts as an essential element for a variety of applications in smart spaces, such as personalized environmental control, security management, access control for automatic doors and internet-of-things (IoT) devices, etc. Mainstream approaches rely on fingerprint identification, face recognition, voice authentication, etc., which usually require a user to actively cooperate within certain proximity. Radio biometric based on a unique way that a human body alters the multipath channel propagation has been proposed, which is, however, very sensitive to environmental changes and thus requires a lot of training and calibration.

Recently, human gait has been proposed as an effective biometric that is useful for more passive person identification, i.e., identification (at a distance) during normal walking without any other active actions. In order to enable ubiquitous and reliable application, a gait recognition system must be robust to environment changes and easy to use without requiring too much user cooperation and re-calibration, while maintaining high accuracy, which is often not satisfied in conventional approaches. Various gait recognition modalities have been considered in the literature, such as vision, acoustic sensing, wearable sensors, and pressure pads. Each of these approaches has some drawbacks with respect to the criteria above. For instance, the vision-based systems suffer from environmental changes and impose privacy concerns. Methods using inertial sensors require user cooperation and thus are not practical.

SUMMARY

The present teaching generally relates to human recognition. More specifically, the present teaching relates to human recognition based on one or more gait features detected wirelessly by processing wireless channel information (CI).

In one embodiment, a system for human recognition is described. The system comprises: a transmitter configured to transmit a first wireless signal through a wireless channel of a venue; a receiver configured to receive a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; and a processor. The processor is configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature.

In another embodiment, a wireless device of a human recognition system is described. The wireless device comprises: a processor; a memory communicatively coupled to the processor; and a receiver communicatively coupled to the processor. An additional wireless device of the human recognition system is configured to transmit a first wireless signal through a wireless channel of a venue. The receiver is configured to receive a second wireless signal through the wireless channel. The second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue. The processor is configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature.

In yet another embodiment, a method of a human recognition system is described. The method comprises: transmitting a first wireless signal through a wireless channel of a venue; receiving a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal; determining a presence of a person moving in the venue based on the time series of CI (TSCI); extracting at least one gait feature of the person from the TSCI; and recognizing an identity of the person based on the at least one gait feature.

Other concepts relate to software for implementing the present teaching on human recognition. Additional novel features will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and the accompanying drawings or may be learned by production or operation of the examples. The novel features of the present teachings may be realized and attained by practice or use of various aspects of the methodologies, instrumentalities and combinations set forth in the detailed examples discussed below.

BRIEF DESCRIPTION OF DRAWINGS

The methods, systems, and/or devices described herein are further described in terms of exemplary embodiments. These exemplary embodiments are described in detail with reference to the drawings. These embodiments are non-limiting exemplary embodiments, in which like reference numerals represent similar structures throughout the several views of the drawings.

FIG. 1 illustrates a diagram of an exemplary human recognition system based on gait cube data using millimeter wave (mmWave) radio, according to some embodiments of the present disclosure.

FIG. 2 illustrates a performance result of an exemplary human recognition system, according to some embodiments of the present disclosure.

FIG. 3 illustrates an exemplary block diagram of a first wireless device of a human recognition system, according to some embodiments of the present disclosure.

FIG. 4 illustrates an exemplary block diagram of a second wireless device of a human recognition system, according to some embodiments of the present disclosure.

FIG. 5 illustrates a flow chart of an exemplary method for human recognition based on gait cube feature using mmWave signal, according to some embodiments of the present disclosure.

DETAILED DESCRIPTION

In one embodiment, the present teaching discloses a method, apparatus, device, system, and/or software (method/apparatus/device/system/software) of a wireless monitoring system. A time series of channel information (CI) of a wireless multipath channel (channel) may be obtained (e.g. dynamically) using a processor, a memory communicatively coupled with the processor and a set of instructions stored in the memory. The time series of CI (TSCI) may be extracted from a wireless signal (signal) transmitted between a Type 1 heterogeneous wireless device (e.g. wireless transmitter, TX) and a Type 2 heterogeneous wireless device (e.g. wireless receiver, RX) in a venue through the channel. The channel may be impacted by an expression (e.g. motion, movement, expression, and/or change in position/pose/shape/expression) of an object in the venue. A characteristics and/or a spatial-temporal information (STI, e.g. motion information) of the object and/or of the motion of the object may be monitored based on the TSCI. A task may be performed based on the characteristics and/or STI. A presentation associated with the task may be generated in a user-interface (UI) on a device of a user. The TSCI may be a wireless signal stream. The TSCI or each CI may be preprocessed. A device may be a station (STA). The symbol “A/B” means “A and/or B” in the present teaching.

The expression may comprise placement, placement of moveable parts, location, position, orientation, identifiable place, region, spatial coordinate, presentation, state, static expression, size, length, width, height, angle, scale, shape, curve, surface, area, volume, pose, posture, manifestation, body language, dynamic expression, motion, motion sequence, gesture, extension, contraction, distortion, deformation, body expression (e.g. head, face, eye, mouth, tongue, hair, voice, neck, limbs, arm, hand, leg, foot, muscle, moveable parts), surface expression (e.g. shape, texture, material, color, electromagnetic (EM) characteristics, visual pattern, wetness, reflectance, translucency, flexibility), material property (e.g. living tissue, hair, fabric, metal, wood, leather, plastic, artificial material, solid, liquid, gas, temperature), movement, activity, behavior, change of expression, and/or some combination.

The wireless signal may comprise: transmitted/received signal, EM radiation, RF signal/transmission, signal in licensed/unlicensed/ISM band, bandlimited signal, baseband signal, wireless/mobile/cellular communication signal, wireless/mobile/cellular network signal, mesh signal, light signal/communication, downlink/uplink signal, unicast/multicast/broadcast signal, standard (e.g. WLAN, WWAN, WPAN, WBAN, international, national, industry, defacto, IEEE, IEEE 802, 802.11/15/16, WiFi, 802.11n/ac/ax/be, 3G/4G/LTE/5G/6G/7G/8G, 3GPP, Bluetooth, BLE, Zigbee, RFID, UWB, WiMax) compliant signal, protocol signal, standard frame, beacon/pilot/probe/enquiry/acknowledgement/handshake/synchronization signal, management/control/data frame, management/control/data signal, standardized wireless/cellular communication protocol, reference signal, source signal, motion probe/detection/sensing signal, and/or series of signals. The wireless signal may comprise a line-of-sight (LOS), and/or a non-LOS component (or path/link). Each CI may be extracted/generated/computed/sensed at a layer (e.g. PHY/MAC layer in OSI model) of Type 2 device and may be obtained by an application (e.g. software, firmware, driver, app, wireless monitoring software/system).

The wireless multipath channel may comprise: a communication channel, analog frequency channel (e.g. with analog carrier frequency near 700/800/900 MHz, 1.8/1.8/2.4/3/5/6/27/60 GHz), coded channel (e.g. in CDMA), and/or channel of a wireless network/system (e.g. WLAN, WiFi, mesh, LTE, 4G/5G, Bluetooth, Zigbee, UWB, RFID, microwave). It may comprise more than one channel. The channels may be consecutive (e.g. with adjacent/overlapping bands) or non-consecutive channels (e.g. non-overlapping WiFi channels, one at 2.4 GHz and one at 5 GHz).

The TSCI may be extracted from the wireless signal at a layer of the Type 2 device (e.g. a layer of OSI reference model, physical layer, data link layer, logical link control layer, media access control (MAC) layer, network layer, transport layer, session layer, presentation layer, application layer, TCP/IP layer, internet layer, link layer). The TSCI may be extracted from a derived signal (e.g. baseband signal, motion detection signal, motion sensing signal) derived from the wireless signal (e.g. RF signal). It may be (wireless) measurements sensed by the communication protocol (e.g. standardized protocol) using existing mechanism (e.g. wireless/cellular communication standard/network, 3G/LTE/4G/5G/6G/7G/8G, WiFi, IEEE 802.11/15/16). The derived signal may comprise a packet with at least one of: a preamble, a header and a payload (e.g. for data/control/management in wireless links/networks). The TSCI may be extracted from a probe signal (e.g. training sequence, STF, LTF, L-STF, L-LTF, L-SIG, HE-STF, HE-LTF, HE-SIG-A, HE-SIG-B, CEF) in the packet. A motion detection/sensing signal may be recognized/identified base on the probe signal. The packet may be a standard-compliant protocol frame, management frame, control frame, data frame, sounding frame, excitation frame, illumination frame, null data frame, beacon frame, pilot frame, probe frame, request frame, response frame, association frame, reassociation frame, disassociation frame, authentication frame, action frame, report frame, poll frame, announcement frame, extension frame, enquiry frame, acknowledgement frame, RTS frame, CTS frame, QoS frame, CF-Poll frame, CF-Ack frame, block acknowledgement frame, reference frame, training frame, and/or synchronization frame.

The packet may comprise a control data and/or a motion detection probe. A data (e.g. ID/parameters/characteristics/settings/control signal/command/instruction/notification/broadcasting-related information of the Type 1 device) may be obtained from the payload. The wireless signal may be transmitted by the Type 1 device. It may be received by the Type 2 device. A database (e.g. in local server, hub device, cloud server, storage network) may be used to store the TSCI, characteristics, STI, signatures, patterns, behaviors, trends, parameters, analytics, output responses, identification information, user information, device information, channel information, venue (e.g. map, environmental model, network, proximity devices/networks) information, task information, class/category information, presentation (e.g. UI) information, and/or other information.

The Type 1/Type 2 device may comprise at least one of: electronics, circuitry, transmitter (TX)/receiver (RX)/transceiver, RF interface, “Origin Satellite”/“Tracker Bot”, unicast/multicast/broadcasting device, wireless source device, source/destination device, wireless node, hub device, target device, motion detection device, sensor device, remote/wireless sensor device, wireless communication device, wireless-enabled device, standard compliant device, and/or receiver. The Type 1 (or Type 2) device may be heterogeneous because, when there are more than one instances of Type 1 (or Type 2) device, they may have different circuitry, enclosure, structure, purpose, auxiliary functionality, chip/IC, processor, memory, software, firmware, network connectivity, antenna, brand, model, appearance, form, shape, color, material, and/or specification. The Type 1/Type 2 device may comprise: access point, router, mesh router, internet-of-things (IoT) device, wireless terminal, one or more radio/RF subsystem/wireless interface (e.g. 2.4 GHz radio, 5 GHz radio, front haul radio, backhaul radio), modem, RF front end, RF/radio chip or integrated circuit (IC).

At least one of: Type 1 device, Type 2 device, a link between them, the object, the characteristics, the STI, the monitoring of the motion, and the task may be associated with an identification (ID) such as UUID. The Type 1/Type 2/another device may obtain/store/retrieve/access/preprocess/condition/process/analyze/monitor/apply the TSCI. The Type 1 and Type 2 devices may communicate network traffic in another channel (e.g. Ethernet, HDMI, USB, Bluetooth, BLE, WiFi, LTE, other network, the wireless multipath channel) in parallel to the wireless signal. The Type 2 device may passively observe/monitor/receive the wireless signal from the Type 1 device in the wireless multipath channel without establishing connection (e.g. association/authentication) with, or requesting service from, the Type 1 device.

The transmitter (i.e. Type 1 device) may function as (play role of) receiver (i.e. Type 2 device) temporarily, sporadically, continuously, repeatedly, interchangeably, alternately, simultaneously, concurrently, and/or contemporaneously; and vice versa. A device may function as Type 1 device (transmitter) and/or Type 2 device (receiver) temporarily, sporadically, continuously, repeatedly, simultaneously, concurrently, and/or contemporaneously. There may be multiple wireless nodes each being Type 1 (TX) and/or Type 2 (RX) device. A TSCI may be obtained between every two nodes when they exchange/communicate wireless signals. The characteristics and/or STI of the object may be monitored individually based on a TSCI, or jointly based on two or more (e.g. all) TSCI.

The motion of the object may be monitored actively (in that Type 1 device, Type 2 device, or both, are wearable of/associated with the object) and/or passively (in that both Type 1 and Type 2 devices are not wearable of/associated with the object). It may be passive because the object may not be associated with the Type 1 device and/or the Type 2 device. The object (e.g. user, an automated guided vehicle or AGV) may not need to carry/install any wearables/fixtures (i.e. the Type 1 device and the Type 2 device are not wearable/attached devices that the object needs to carry in order perform the task). It may be active because the object may be associated with either the Type 1 device and/or the Type 2 device. The object may carry (or installed) a wearable/a fixture (e.g. the Type 1 device, the Type 2 device, a device communicatively coupled with either the Type 1 device or the Type 2 device).

The presentation may be visual, audio, image, video, animation, graphical presentation, text, etc. A computation of the task may be performed by a processor (or logic unit) of the Type 1 device, a processor (or logic unit) of an IC of the Type 1 device, a processor (or logic unit) of the Type 2 device, a processor of an IC of the Type 2 device, a local server, a cloud server, a data analysis subsystem, a signal analysis subsystem, and/or another processor. The task may be performed with/without reference to a wireless fingerprint or a baseline (e.g. collected, processed, computed, transmitted and/or stored in a training phase/survey/current survey/previous survey/recent survey/initial wireless survey, a passive fingerprint), a training, a profile, a trained profile, a static profile, a survey, an initial wireless survey, an initial setup, an installation, a retraining, an updating and a reset.

The Type 1 device (TX device) may comprise at least one heterogeneous wireless transmitter. The Type 2 device (RX device) may comprise at least one heterogeneous wireless receiver. The Type 1 device and the Type 2 device may be collocated. The Type 1 device and the Type 2 device may be the same device. Any device may have a data processing unit/apparatus, a computing unit/system, a network unit/system, a processor (e.g. logic unit), a memory communicatively coupled with the processor, and a set of instructions stored in the memory to be executed by the processor. Some processors, memories and sets of instructions may be coordinated.

There may be multiple Type 1 devices interacting (e.g. communicating, exchange signal/control/notification/other data) with the same Type 2 device (or multiple Type 2 devices), and/or there may be multiple Type 2 devices interacting with the same Type 1 device. The multiple Type 1 devices/Type 2 devices may be synchronized and/or asynchronous, with same/different window width/size and/or time shift, same/different synchronized start time, synchronized end time, etc. Wireless signals sent by the multiple Type 1 devices may be sporadic, temporary, continuous, repeated, synchronous, simultaneous, concurrent, and/or contemporaneous. The multiple Type 1 devices/Type 2 devices may operate independently and/or collaboratively. A Type 1 and/or Type 2 device may have/comprise/be heterogeneous hardware circuitry (e.g. a heterogeneous chip or a heterogeneous IC capable of generating/receiving the wireless signal, extracting CI from received signal, or making the CI available). They may be communicatively coupled to same or different servers (e.g. cloud server, edge server, local server, hub device).

Operation of one device may be based on operation, state, internal state, storage, processor, memory output, physical location, computing resources, network of another device. Difference devices may communicate directly, and/or via another device/server/hub device/cloud server. The devices may be associated with one or more users, with associated settings. The settings may be chosen once, pre-programmed, and/or changed (e.g. adjusted, varied, modified)/varied over time. There may be additional steps in the method. The steps and/or the additional steps of the method may be performed in the order shown or in another order. Any steps may be performed in parallel, iterated, or otherwise repeated or performed in another manner. A user may be human, adult, older adult, man, woman, juvenile, child, baby, pet, animal, creature, machine, computer module/software, etc.

In the case of one or multiple Type 1 devices interacting with one or multiple Type 2 devices, any processing (e.g. time domain, frequency domain) may be different for different devices. The processing may be based on locations, orientation, direction, roles, user-related characteristics, settings, configurations, available resources, available bandwidth, network connection, hardware, software, processor, co-processor, memory, battery life, available power, antennas, antenna types, directional/unidirectional characteristics of the antenna, power setting, and/or other parameters/characteristics of the devices.

The wireless receiver (e.g. Type 2 device) may receive the signal and/or another signal from the wireless transmitter (e.g. Type 1 device). The wireless receiver may receive another signal from another wireless transmitter (e.g. a second Type 1 device). The wireless transmitter may transmit the signal and/or another signal to another wireless receiver (e.g. a second Type 2 device). The wireless transmitter, wireless receiver, another wireless receiver and/or another wireless transmitter may be moving with the object and/or another object. The another object may be tracked.

The Type 1 and/or Type 2 device may be capable of wirelessly coupling with at least two Type 2 and/or Type 1 devices. The Type 1 device may be caused/controlled to switch/establish wireless coupling (e.g. association, authentication) from the Type 2 device to a second Type 2 device at another location in the venue. Similarly, the Type 2 device may be caused/controlled to switch/establish wireless coupling from the Type 1 device to a second Type 1 device at yet another location in the venue. The switching may be controlled by a server (or a hub device), the processor, the Type 1 device, the Type 2 device, and/or another device. The radio used before and after switching may be different. A second wireless signal (second signal) may be caused to be transmitted between the Type 1 device and the second Type 2 device (or between the Type 2 device and the second Type 1 device) through the channel. A second TSCI of the channel extracted from the second signal may be obtained. The second signal may be the first signal. The characteristics, STI and/or another quantity of the object may be monitored based on the second TSCI. The Type 1 device and the Type 2 device may be the same. The characteristics, STI and/or another quantity with different time stamps may form a waveform. The waveform may be displayed in the presentation.

The wireless signal and/or another signal may have data embedded. The wireless signal may be a series of probe signals (e.g. a repeated transmission of probe signals, a re-use of one or more probe signals). The probe signals may change/vary over time. A probe signal may be a standard compliant signal, protocol signal, standardized wireless protocol signal, control signal, data signal, wireless communication network signal, cellular network signal, WiFi signal, LTE/5G/6G/7G signal, reference signal, beacon signal, motion detection signal, and/or motion sensing signal. A probe signal may be formatted according to a wireless network standard (e.g. WiFi), a cellular network standard (e.g. LTE/5G/6G), or another standard. A probe signal may comprise a packet with a header and a payload. A probe signal may have data embedded. The payload may comprise data. A probe signal may be replaced by a data signal. The probe signal may be embedded in a data signal. The wireless receiver, wireless transmitter, another wireless receiver and/or another wireless transmitter may be associated with at least one processor, memory communicatively coupled with respective processor, and/or respective set of instructions stored in the memory which when executed cause the processor to perform any and/or all steps needed to determine the STI (e.g. motion information), initial STI, initial time, direction, instantaneous location, instantaneous angle, and/or speed, of the object.

The processor, the memory and/or the set of instructions may be associated with the Type 1 device, one of the at least one Type 2 device, the object, a device associated with the object, another device associated with the venue, a cloud server, a hub device, and/or another server.

The Type 1 device may transmit the signal in a broadcasting manner to at least one Type 2 device(s) through the channel in the venue. The signal is transmitted without the Type 1 device establishing wireless connection (e.g. association, authentication) with any Type 2 device, and without any Type 2 device requesting services from the Type 1 device. The Type 1 device may transmit to a particular media access control (MAC) address common for more than one Type 2 devices. Each Type 2 device may adjust its MAC address to the particular MAC address. The particular MAC address may be associated with the venue. The association may be recorded in an association table of an Association Server (e.g. hub device). The venue may be identified by the Type 1 device, a Type 2 device and/or another device based on the particular MAC address, the series of probe signals, and/or the at least one TSCI extracted from the probe signals.

For example, a Type 2 device may be moved to a new location in the venue (e.g. from another venue). The Type 1 device may be newly set up in the venue such that the Type 1 and Type 2 devices are not aware of each other. During set up, the Type 1 device may be instructed/guided/caused/controlled (e.g. using dummy receiver, using hardware pin setting/connection, using stored setting, using local setting, using remote setting, using downloaded setting, using hub device, or using server) to send the series of probe signals to the particular MAC address. Upon power up, the Type 2 device may scan for probe signals according to a table of MAC addresses (e.g. stored in a designated source, server, hub device, cloud server) that may be used for broadcasting at different locations (e.g. different MAC address used for different venue such as house, office, enclosure, floor, multi-storey building, store, airport, mall, stadium, hall, station, subway, lot, area, zone, region, district, city, country, continent). When the Type 2 device detects the probe signals sent to the particular MAC address, the Type 2 device can use the table to identify the venue based on the MAC address.

A location of a Type 2 device in the venue may be computed based on the particular MAC address, the series of probe signals, and/or the at least one TSCI obtained by the Type 2 device from the probe signals. The computing may be performed by the Type 2 device.

The particular MAC address may be changed (e.g. adjusted, varied, modified) over time. It may be changed according to a time table, rule, policy, mode, condition, situation and/or change. The particular MAC address may be selected based on availability of the MAC address, a pre-selected list, collision pattern, traffic pattern, data traffic between the Type 1 device and another device, effective bandwidth, random selection, and/or a MAC address switching plan. The particular MAC address may be the MAC address of a second wireless device (e.g. a dummy receiver, or a receiver that serves as a dummy receiver).

The Type 1 device may transmit the probe signals in a channel selected from a set of channels. At least one CI of the selected channel may be obtained by a respective Type 2 device from the probe signal transmitted in the selected channel.

The selected channel may be changed (e.g. adjusted, varied, modified) over time. The change may be according to a time table, rule, policy, mode, condition, situation, and/or change. The selected channel may be selected based on availability of channels, random selection, a pre-selected list, co-channel interference, inter-channel interference, channel traffic pattern, data traffic between the Type 1 device and another device, effective bandwidth associated with channels, security criterion, channel switching plan, a criterion, a quality criterion, a signal quality condition, and/or consideration.

The particular MAC address and/or an information of the selected channel may be communicated between the Type 1 device and a server (e.g. hub device) through a network. The particular MAC address and/or the information of the selected channel may also be communicated between a Type 2 device and a server (e.g. hub device) through another network. The Type 2 device may communicate the particular MAC address and/or the information of the selected channel to another Type 2 device (e.g. via mesh network, Bluetooth, WiFi, NFC, ZigBee, etc.). The particular MAC address and/or selected channel may be chosen by a server (e.g. hub device). The particular MAC address and/or selected channel may be signaled in an announcement channel by the Type 1 device, the Type 2 device and/or a server (e.g. hub device). Before being communicated, any information may be pre-processed.

Wireless connection (e.g. association, authentication) between the Type 1 device and another wireless device may be established (e.g. using a signal handshake). The Type 1 device may send a first handshake signal (e.g. sounding frame, probe signal, request-to-send RTS) to the another device. The another device may reply by sending a second handshake signal (e.g. a command, or a clear-to-send CTS) to the Type 1 device, triggering the Type 1 device to transmit the signal (e.g. series of probe signals) in the broadcasting manner to multiple Type 2 devices without establishing connection with any Type 2 device. The second handshake signals may be a response or an acknowledge (e.g. ACK) to the first handshake signal. The second handshake signal may contain a data with information of the venue, and/or the Type 1 device. The another device may be a dummy device with a purpose (e.g. primary purpose, secondary purpose) to establish the wireless connection with the Type 1 device, to receive the first signal, and/or to send the second signal. The another device may be physically attached to the Type 1 device.

In another example, the another device may send a third handshake signal to the Type 1 device triggering the Type 1 device to broadcast the signal (e.g. series of probe signals) to multiple Type 2 devices without establishing connection (e.g. association, authentication) with any Type 2 device. The Type 1 device may reply to the third special signal by transmitting a fourth handshake signal to the another device. The another device may be used to trigger more than one Type 1 devices to broadcast. The triggering may be sequential, partially sequential, partially parallel, or fully parallel. The another device may have more than one wireless circuitries to trigger multiple transmitters in parallel. Parallel trigger may also be achieved using at least one yet another device to perform the triggering (similar to what as the another device does) in parallel to the another device. The another device may not communicate (or suspend communication) with the Type 1 device after establishing connection with the Type 1 device. Suspended communication may be resumed. The another device may enter an inactive mode, hibernation mode, sleep mode, stand-by mode, low-power mode, OFF mode and/or power-down mode, after establishing the connection with the Type 1 device. The another device may have the particular MAC address so that the Type 1 device sends the signal to the particular IAC address. The Type 1 device and/or the another device may be controlled and/or coordinated by a first processor associated with the Type 1 device, a second processor associated with the another device, a third processor associated with a designated source and/or a fourth processor associated with another device. The first and second processors may coordinate with each other.

A first series of probe signals may be transmitted by a first antenna of the Type 1 device to at least one first Type 2 device through a first channel in a first venue. A second series of probe signals may be transmitted by a second antenna of the Type 1 device to at least one second Type 2 device through a second channel in a second venue. The first series and the second series may/may not be different. The at least one first Type 2 device may/may not be different from the at least one second Type 2 device. The first and/or second series of probe signals may be broadcasted without connection (e.g. association, authentication) established between the Type 1 device and any Type 2 device. The first and second antennas may be same/different.

The two venues may have different sizes, shape, multipath characteristics. The first and second venues may overlap. The respective immediate areas around the first and second antennas may overlap. The first and second channels may be same/different. For example, the first one may be WiFi while the second may be LTE. Or, both may be WiFi, but the first one may be 2.4 GHz WiFi and the second may be 5 GHz WiFi. Or, both may be 2.4 GHz WiFi, but have different channel numbers, SSID names, and/or WiFi settings.

Each Type 2 device may obtain at least one TSCI from the respective series of probe signals, the CI being of the respective channel between the Type 2 device and the Type 1 device. Some first Type 2 device(s) and some second Type 2 device(s) may be the same. The first and second series of probe signals may be synchronous/asynchronous. A probe signal may be transmitted with data or replaced by a data signal. The first and second antennas may be the same.

The first series of probe signals may be transmitted at a first rate (e.g. 30 Hz). The second series of probe signals may be transmitted at a second rate (e.g. 200 Hz). The first and second rates may be same/different. The first and/or second rate may be changed (e.g. adjusted, varied, modified) over time. The change may be according to a time table, rule, policy, mode, condition, situation, and/or change. Any rate may be changed (e.g. adjusted, varied, modified) over time.

The first and/or second series of probe signals may be transmitted to a first MAC address and/or second MAC address respectively. The two MAC addresses may be same/different. The first series of probe signals may be transmitted in a first channel. The second series of probe signals may be transmitted in a second channel. The two channels may be same/different. The first or second MAC address, first or second channel may be changed over time. Any change may be according to a time table, rule, policy, mode, condition, situation, and/or change.

The Type 1 device and another device may be controlled and/or coordinated, physically attached, or may be of/in/of a common device. They may be controlled by/connected to a common data processor, or may be connected to a common bus interconnect/network/LAN/Bluetooth network/NFC network/BLE network/wired network/wireless network/mesh network/mobile network/cloud. They may share a common memory, or be associated with a common user, user device, profile, account, identity (ID), identifier, household, house, physical address, location, geographic coordinate, IP subnet, SSID, home device, office device, and/or manufacturing device.

Each Type 1 device may be a signal source of a set of respective Type 2 devices (i.e. it sends a respective signal (e.g. respective series of probe signals) to the set of respective Type 2 devices). Each respective Type 2 device chooses the Type 1 device from among all Type 1 devices as its signal source. Each Type 2 device may choose asynchronously. At least one TSCI may be obtained by each respective Type 2 device from the respective series of probe signals from the Type 1 device, the CI being of the channel between the Type 2 device and the Type 1 device.

The respective Type 2 device chooses the Type 1 device from among all Type 1 devices as its signal source based on identity (ID) or identifier of Type 1/Type 2 device, task to be performed, past signal source, history (e.g. of past signal source, Type 1 device, another Type 1 device, respective Type 2 receiver, and/or another Type 2 receiver), threshold for switching signal source, and/or information of a user, account, access info, parameter, characteristics, and/or signal strength (e.g. associated with the Type 1 device and/or the respective Type 2 receiver).

Initially, the Type 1 device may be signal source of a set of initial respective Type 2 devices (i.e. the Type 1 device sends a respective signal (series of probe signals) to the set of initial respective Type 2 devices) at an initial time. Each initial respective Type 2 device chooses the Type 1 device from among all Type 1 devices as its signal source.

The signal source (Type 1 device) of a particular Type 2 device may be changed (e.g. adjusted, varied, modified) when (1) time interval between two adjacent probe signals (e.g. between current probe signal and immediate past probe signal, or between next probe signal and current probe signal) received from current signal source of the Type 2 device exceeds a first threshold; (2) signal strength associated with current signal source of the Type 2 device is below a second threshold; (3) a processed signal strength associated with current signal source of the Type 2 device is below a third threshold, the signal strength processed with low pass filter, band pass filter, median filter, moving average filter, weighted averaging filter, linear filter and/or non-linear filter; and/or (4) signal strength (or processed signal strength) associated with current signal source of the Type 2 device is below a fourth threshold for a significant percentage of a recent time window (e.g. 70%, 80%, 90%). The percentage may exceed a fifth threshold. The first, second, third, fourth and/or fifth thresholds may be time varying.

Condition (1) may occur when the Type 1 device and the Type 2 device become progressively far away from each other, such that some probe signal from the Type 1 device becomes too weak and is not received by the Type 2 device. Conditions (2)-(4) may occur when the two devices become far from each other such that the signal strength becomes very weak.

The signal source of the Type 2 device may not change if other Type 1 devices have signal strength weaker than a factor (e.g. 1, 1.1, 1.2, or 1.5) of the current signal source.

If the signal source is changed (e.g. adjusted, varied, modified), the new signal source may take effect at a near future time (e.g. the respective next time). The new signal source may be the Type 1 device with strongest signal strength, and/or processed signal strength. The current and new signal source may be same/different.

A list of available Type 1 devices may be initialized and maintained by each Type 2 device. The list may be updated by examining signal strength and/or processed signal strength associated with the respective set of Type 1 devices. A Type 2 device may choose between a first series of probe signals from a first Type 1 device and a second series of probe signals from a second Type 1 device based on: respective probe signal rate, MAC addresses, channels, characteristics/properties/states, task to be performed by the Type 2 device, signal strength of first and second series, and/or another consideration.

The series of probe signals may be transmitted at a regular rate (e.g. 100 Hz). The series of probe signals may be scheduled at a regular interval (e.g. 0.01 s for 100 Hz), but each probe signal may experience small time perturbation, perhaps due to timing requirement, timing control, network control, handshaking, message passing, collision avoidance, carrier sensing, congestion, availability of resources, and/or another consideration.

The rate may be changed (e.g. adjusted, varied, modified). The change may be according to a time table (e.g. changed once every hour), rule, policy, mode, condition and/or change (e.g. changed whenever some event occur). For example, the rate may normally be 100 Hz, but changed to 1000 Hz in demanding situations, and to 1 Hz in low power/standby situation. The probe signals may be sent in burst.

The probe signal rate may change based on a task performed by the Type 1 device or Type 2 device (e.g. a task may need 100 Hz normally and 1000 Hz momentarily for 20 seconds). In one example, the transmitters (Type 1 devices), receivers (Type 2 device), and associated tasks may be associated adaptively (and/or dynamically) to classes (e.g. classes that are: low-priority, high-priority, emergency, critical, regular, privileged, non-subscription, subscription, paying, and/or non-paying). A rate (of a transmitter) may be adjusted for the sake of some class (e.g. high priority class). When the need of that class changes, the rate may be changed (e.g. adjusted, varied, modified). When a receiver has critically low power, the rate may be reduced to reduce power consumption of the receiver to respond to the probe signals. In one example, probe signals may be used to transfer power wirelessly to a receiver (Type 2 device), and the rate may be adjusted to control the amount of power transferred to the receiver.

The rate may be changed by (or based on): a server (e.g. hub device), the Type 1 device and/or the Type 2 device. Control signals may be communicated between them. The server may monitor, track, forecast and/or anticipate the needs of the Type 2 device and/or the tasks performed by the Type 2 device, and may control the Type 1 device to change the rate. The server may make scheduled changes to the rate according to a time table. The server may detect an emergency situation and change the rate immediately. The server may detect a developing condition and adjust the rate gradually.

The characteristics and/or STI (e.g. motion information) may be monitored individually based on a TSCI associated with a particular Type 1 device and a particular Type 2 device, and/or monitored jointly based on any TSCI associated with the particular Type 1 device and any Type 2 device, and/or monitored jointly based on any TSCI associated with the particular Type 2 device and any Type 1 device, and/or monitored globally based on any TSCI associated with any Type 1 device and any Type 2 device. Any joint monitoring may be associated with: a user, user account, profile, household, map of venue, environmental model of the venue, and/or user history, etc.

A first channel between a Type 1 device and a Type 2 device may be different from a second channel between another Type 1 device and another Type 2 device. The two channels may be associated with different frequency bands, bandwidth, carrier frequency, modulation, wireless standards, coding, encryption, payload characteristics, networks, network ID, SSID, network characteristics, network settings, and/or network parameters, etc.

The two channels may be associated with different kinds of wireless system (e.g. two of the following: WiFi, LTE, LTE-A, LTE-U, 2.5G, 3G, 3.5G, 4G, beyond 4G, 5G, 6G, 7G, a cellular network standard, UMTS, 3GPP, GSM, EDGE, TDMA, FDMA, CDMA, WCDMA, TD-SCDMA, 802.11 system, 802.15 system, 802.16 system, mesh network, Zigbee, NFC, WiMax, Bluetooth, BLE, RFID, UWB, microwave system, radar like system). For example, one is WiFi and the other is LTE.

The two channels may be associated with similar kinds of wireless system, but in different network. For example, the first channel may be associated with a WiFi network named “Pizza and Pizza” in the 2.4 GHz band with a bandwidth of 20 MHz while the second may be associated with a WiFi network with SSID of “StarBud hotspot” in the 5 GHz band with a bandwidth of 40 MHz. The two channels may be different channels in same network (e.g. the “StarBud hotspot” network).

In one embodiment, a wireless monitoring system may comprise training a classifier of multiple events in a venue based on training TSCI associated with the multiple events. A CI or TSCI associated with an event may be considered/may comprise a wireless sample/characteristics/fingerprint associated with the event (and/or the venue, the environment, the object, the motion of the object, a state/emotional state/mental state/condition/stage/gesture/gait/action/movement/activity/daily activity/history/event of the object, etc.).

For each of the multiple known events happening in the venue in a respective training (e.g. surveying, wireless survey, initial wireless survey) time period associated with the known event, a respective training wireless signal (e.g. a respective series of training probe signals) may be transmitted by an antenna of a first Type 1 heterogeneous wireless device using a processor, a memory and a set of instructions of the first Type 1 device to at least one first Type 2 heterogeneous wireless device through a wireless multipath channel in the venue in the respective training time period.

At least one respective time series of training CI (training TSCI) may be obtained asynchronously by each of the at least one first Type 2 device from the (respective) training signal. The CI may be CI of the channel between the first Type 2 device and the first Type 1 device in the training time period associated with the known event. The at least one training TSCI may be preprocessed. The training may be a wireless survey (e.g. during installation of Type 1 device and/or Type 2 device).

For a current event happening in the venue in a current time period, a current wireless signal (e.g. a series of current probe signals) may be transmitted by an antenna of a second Type 1 heterogeneous wireless device using a processor, a memory and a set of instructions of the second Type 1 device to at least one second Type 2 heterogeneous wireless device through the channel in the venue in the current time period associated with the current event.

At least one time series of current CI (current TSCI) may be obtained asynchronously by each of the at least one second Type 2 device from the current signal (e.g. the series of current probe signals). The CI may be CI of the channel between the second Type 2 device and the second Type 1 device in the current time period associated with the current event. The at least one current TSCI may be preprocessed.

The classifier may be applied to classify at least one current TSCI obtained from the series of current probe signals by the at least one second Type 2 device, to classify at least one portion of a particular current TSCI, and/or to classify a combination of the at least one portion of the particular current TSCI and another portion of another TSCI. The classifier may partition TSCI (or the characteristics/STI or other analytics or output responses) into clusters and associate the clusters to specific events/objects/subjects/locations/movements/activities. Labels/tags may be generated for the clusters. The clusters may be stored and retrieved. The classifier may be applied to associate the current TSCI (or characteristics/STI or the other analytics/output response, perhaps associated with a current event) with: a cluster, a known/specific event, a class/category/group/grouping/list/cluster/set of known events/subjects/locations/movements/activities, an unknown event, a class/category/group/grouping/list/cluster/set of unknown events/subjects/locations/movements/activities, and/or another event/subject/location/movement/activity/class/category/group/grouping/list/cluster/set. Each TSCI may comprise at least one CI each associated with a respective timestamp. Two TSCI associated with two Type 2 devices may be different with different: starting time, duration, stopping time, amount of CI, sampling frequency, sampling period. Their CI may have different features. The first and second Type 1 devices may be at same location in the venue. They may be the same device. The at least one second Type 2 device (or their locations) may be a permutation of the at least one first Type 2 device (or their locations). A particular second Type 2 device and a particular first Type 2 device may be the same device.

A subset of the first Type 2 device and a subset of the second Type 2 device may be the same. The at least one second Type 2 device and/or a subset of the at least one second Type 2 device may be a subset of the at least one first Type 2 device. The at least one first Type 2 device and/or a subset of the at least one first Type 2 device may be a permutation of a subset of the at least one second Type 2 device. The at least one second Type 2 device and/or a subset of the at least one second Type 2 device may be a permutation of a subset of the at least one first Type 2 device. The at least one second Type 2 device and/or a subset of the at least one second Type 2 device may be at same respective location as a subset of the at least one first Type 2 device. The at least one first Type 2 device and/or a subset of the at least one first Type 2 device may be at same respective location as a subset of the at least one second Type 2 device.

The antenna of the Type 1 device and the antenna of the second Type 1 device may be at same location in the venue. Antenna(s) of the at least one second Type 2 device and/or antenna(s) of a subset of the at least one second Type 2 device may be at same respective location as respective antenna(s) of a subset of the at least one first Type 2 device. Antenna(s) of the at least one first Type 2 device and/or antenna(s) of a subset of the at least one first Type 2 device may be at same respective location(s) as respective antenna(s) of a subset of the at least one second Type 2 device.

A first section of a first time duration of the first TSCI and a second section of a second time duration of the second section of the second TSCI may be aligned. A map between items of the first section and items of the second section may be computed. The first section may comprise a first segment (e.g. subset) of the first TSCI with a first starting/ending time, and/or another segment (e.g. subset) of a processed first TSCI. The processed first TSCI may be the first TSCI processed by a first operation. The second section may comprise a second segment (e.g. subset) of the second TSCI with a second starting time and a second ending time, and another segment (e.g. subset) of a processed second TSCI. The processed second TSCI may be the second TSCI processed by a second operation. The first operation and/or the second operation may comprise: subsampling, re-sampling, interpolation, filtering, transformation, feature extraction, pre-processing, and/or another operation.

A first item of the first section may be mapped to a second item of the second section. The first item of the first section may also be mapped to another item of the second section. Another item of the first section may also be mapped to the second item of the second section. The mapping may be one-to-one, one-to-many, many-to-one, many-to-many. At least one function of at least one of: the first item of the first section of the first TSCI, another item of the first TSCI, timestamp of the first item, time difference of the first item, time differential of the first item, neighboring timestamp of the first item, another timestamp associated with the first item, the second item of the second section of the second TSCI, another item of the second TSCI, timestamp of the second item, time difference of the second item, time differential of the second item, neighboring timestamp of the second item, and another timestamp associated with the second item, may satisfy at least one constraint.

One constraint may be that a difference between the timestamp of the first item and the timestamp of the second item may be upper-bounded by an adaptive (and/or dynamically adjusted) upper threshold and lower-bounded by an adaptive lower threshold.

The first section may be the entire first TSCI. The second section may be the entire second TSCI. The first time duration may be equal to the second time duration. A section of a time duration of a TSCI may be determined adaptively (and/or dynamically). A tentative section of the TSCI may be computed. A starting time and an ending time of a section (e.g. the tentative section, the section) may be determined. The section may be determined by removing a beginning portion and an ending portion of the tentative section. A beginning portion of a tentative section may be determined as follows. Iteratively, items of the tentative section with increasing timestamp may be considered as a current item, one item at a time.

In each iteration, at least one activity measure/index may be computed and/or considered. The at least one activity measure may be associated with at least one of: the current item associated with a current timestamp, past items of the tentative section with timestamps not larger than the current timestamp, and/or future items of the tentative section with timestamps not smaller than the current timestamp. The current item may be added to the beginning portion of the tentative section if at least one criterion (e.g. quality criterion, signal quality condition) associated with the at least one activity measure is satisfied.

The at least one criterion associated with the activity measure may comprise at least one of: (a) the activity measure is smaller than an adaptive (e.g. dynamically adjusted) upper threshold, (b) the activity measure is larger than an adaptive lower threshold, (c) the activity measure is smaller than an adaptive upper threshold consecutively for at least a predetermined amount of consecutive timestamps, (d) the activity measure is larger than an adaptive lower threshold consecutively for at least another predetermined amount of consecutive timestamps, (e) the activity measure is smaller than an adaptive upper threshold consecutively for at least a predetermined percentage of the predetermined amount of consecutive timestamps, (f) the activity measure is larger than an adaptive lower threshold consecutively for at least another predetermined percentage of the another predetermined amount of consecutive timestamps, (g) another activity measure associated with another timestamp associated with the current timestamp is smaller than another adaptive upper threshold and larger than another adaptive lower threshold, (h) at least one activity measure associated with at least one respective timestamp associated with the current timestamp is smaller than respective upper threshold and larger than respective lower threshold, (i) percentage of timestamps with associated activity measure smaller than respective upper threshold and larger than respective lower threshold in a set of timestamps associated with the current timestamp exceeds a threshold, and (j) another criterion (e.g. a quality criterion, signal quality condition).

An activity measure/index associated with an item at time T1 may comprise at least one of: (1) a first function of the item at time T1 and an item at time T1−D1, wherein D1 is a pre-determined positive quantity (e.g. a constant time offset), (2) a second function of the item at time T1 and an item at time T1+D1, (3) a third function of the item at time T1 and an item at time T2, wherein T2 is a pre-determined quantity (e.g. a fixed initial reference time; T2 may be changed (e.g. adjusted, varied, modified) over time; T2 may be updated periodically; T2 may be the beginning of a time period and T1 may be a sliding time in the time period), and (4) a fourth function of the item at time T1 and another item.

At least one of: the first function, the second function, the third function, and/or the fourth function may be a function (e.g. F(X, Y, . . . )) with at least two arguments: X and Y. The two arguments may be scalars. The function (e.g. F) may be a function of at least one of: X, Y, (X−Y), (Y−X), abs(X−Y), X{circumflex over ( )}a, Y{circumflex over ( )}b, abs(X{circumflex over ( )}a−Y{circumflex over ( )}B), (X−Y){circumflex over ( )}a, (X/Y), (X+a)/(Y+b), (X{circumflex over ( )}a/Y{circumflex over ( )}B), and ((X/Y){circumflex over ( )}a−b), wherein a and b are may be some predetermined quantities. For example, the function may simply be abs(X−Y), or (X−Y){circumflex over ( )}2, (X−Y){circumflex over ( )}4. The function may be a robust function. For example, the function may be (X−Y){circumflex over ( )}2 when abs X−Y) is less than a threshold T, and (X−Y)+a when abs(X−Y) is larger than T. Alternatively, the function may be a constant when abs(X−Y) is larger than T. The function may also be bounded by a slowly increasing function when abs(X-y) is larger than T, so that outliers cannot severely affect the result. Another example of the function may be (abs(X/Y)−a), where a=1. In this way, if X=Y (i.e. no change or no activity), the function will give a value of 0. If X is larger than Y, (X/Y) will be larger than 1 (assuming X and Y are positive) and the function will be positive. And if X is less than Y, (X/Y) will be smaller than 1 and the function will be negative. In another example, both arguments X and Y may be n-tuples such that X=(x_1, x_2, . . . , x_n) and Y=(y_1, y_2, . . . , y_n). The function may be a function of at least one of: x_i, y_i, (x_i−y_i), (y_i−x_i), abs(x_i−y_i), x_i{circumflex over ( )}a, y_i{circumflex over ( )}b, abs(x_i{circumflex over ( )}a−y_i{circumflex over ( )}b), (x_i−y_i){circumflex over ( )}a, (x_i/y_i), (x_i+a)/(y_i+b), (x_i{circumflex over ( )}a/y_i{circumflex over ( )}b), and ((x_i/y_i){circumflex over ( )}a−b), wherein i is a component index of the n-tuple X and Y, and 1<=i<=n, e.g. component index of x_1 is i=1, component index of x_2 is i=2. The function may comprise a component-by-component summation of another function of at least one of the following: x_i, y_i, (x_i−y_i), (y_i−x_i), abs(x_i−y_i), x_i{circumflex over ( )}a, y_i{circumflex over ( )}b, abs(x_i{circumflex over ( )}a−y_i{circumflex over ( )}b), (x_i−y_i){circumflex over ( )}a, (x_i/y_i), (x_i+a)/(y_i+b), (x_i{circumflex over ( )}a/y_i{circumflex over ( )}b), and ((x_i/y_i){circumflex over ( )}a−b), wherein i is the component index of the n-tuple X and Y. For example, the function may be in a form of sum_{i=1}{circumflex over ( )}n (abs(x_i/y_i)−1)/n, or sum_{i=1}{circumflex over ( )}n w_i*(abs(x_i/y_i)−1), where w_i is some weight for component i.

The map may be computed using dynamic time warping (DTW). The DTW may comprise a constraint on at least one of: the map, the items of the first TSCI, the items of the second TSCI, the first time duration, the second time duration, the first section, and/or the second section. Suppose in the map, the i{circumflex over ( )}{th} domain item is mapped to the j{circumflex over ( )}{th} range item. The constraint may be on admissible combination of i and j (constraint on relationship between i and j). Mismatch cost between a first section of a first time duration of a first TSCI and a second section of a second time duration of a second TSCI may be computed.

The first section and the second section may be aligned such that a map comprising more than one links may be established between first items of the first TSCI and second items of the second TSCI. With each link, one of the first items with a first timestamp may be associated with one of the second items with a second timestamp. A mismatch cost between the aligned first section and the aligned second section may be computed. The mismatch cost may comprise a function of: an item-wise cost between a first item and a second item associated by a particular link of the map, and a link-wise cost associated with the particular link of the map.

The aligned first section and the aligned second section may be represented respectively as a first vector and a second vector of same vector length. The mismatch cost may comprise at least one of: an inner product, inner-product-like quantity, quantity based on correlation, correlation indicator, quantity based on covariance, discriminating score, distance, Euclidean distance, absolute distance, Lk distance (e.g. L1, L2, . . . ), weighted distance, distance-like quantity and/or another similarity value, between the first vector and the second vector. The mismatch cost may be normalized by the respective vector length.

A parameter derived from the mismatch cost between the first section of the first time duration of the first TSCI and the second section of the second time duration of the second TSCI may be modeled with a statistical distribution. At least one of: a scale parameter, location parameter and/or another parameter, of the statistical distribution may be estimated.

The first section of the first time duration of the first TSCI may be a sliding section of the first TSCI. The second section of the second time duration of the second TSCI may be a sliding section of the second TSCI.

A first sliding window may be applied to the first TSCI and a corresponding second sliding window may be applied to the second TSCI. The first sliding window of the first TSCI and the corresponding second sliding window of the second TSCI may be aligned.

Mismatch cost between the aligned first sliding window of the first TSCI and the corresponding aligned second sliding window of the second TSCI may be computed. The current event may be associated with at least one of: the known event, the unknown event and/or the another event, based on the mismatch cost.

The classifier may be applied to at least one of: each first section of the first time duration of the first TSCI, and/or each second section of the second time duration of the second TSCI, to obtain at least one tentative classification results. Each tentative classification result may be associated with a respective first section and a respective second section.

The current event may be associated with at least one of: the known event, the unknown event, a class/category/group/grouping/list/set of unknown events, and/or the another event, based on the mismatch cost. The current event may be associated with at least one of: the known event, the unknown event and/or the another event, based on a largest number of tentative classification results in more than one sections of the first TSCI and corresponding more than sections of the second TSCI. For example, the current event may be associated with a particular known event if the mismatch cost points to the particular known event for N consecutive times (e.g. N=10). In another example, the current event may be associated with a particular known event if the percentage of mismatch cost within the immediate past N consecutive N pointing to the particular known event exceeds a certain threshold (e.g. >80%).

In another example, the current event may be associated with a known event that achieves smallest mismatch cost for the most times within a time period. The current event may be associated with a known event that achieves smallest overall mismatch cost, which is a weighted average of at least one mismatch cost associated with the at least one first sections. The current event may be associated with a particular known event that achieves smallest of another overall cost. The current event may be associated with the “unknown event” if none of the known events achieve mismatch cost lower than a first threshold T1 in a sufficient percentage of the at least one first section. The current event may also be associated with the “unknown event” if none of the events achieve an overall mismatch cost lower than a second threshold T2. The current event may be associated with at least one of: the known event, the unknown event and/or the another event, based on the mismatch cost and additional mismatch cost associated with at least one additional section of the first TSCI and at least one additional section of the second TSCI. The known events may comprise at least one of: a door closed event, door open event, window closed event, window open event, multi-state event, on-state event, off-state event, intermediate state event, continuous state event, discrete state event, human-present event, human-absent event, sign-of-life-present event, and/or a sign-of-life-absent event.

A projection for each CI may be trained using a dimension reduction method based on the training TSCI. The dimension reduction method may comprise at least one of: principal component analysis (PCA), PCA with different kernel, independent component analysis (ICA), Fisher linear discriminant, vector quantization, supervised learning, unsupervised learning, self-organizing maps, auto-encoder, neural network, deep neural network, and/or another method. The projection may be applied to at least one of: the training TSCI associated with the at least one event, and/or the current TSCI, for the classifier.

The classifier of the at least one event may be trained based on the projection and the training TSCI associated with the at least one event. The at least one current TSCI may be classified/categorized based on the projection and the current TSCI. The projection may be re-trained using at least one of: the dimension reduction method, and another dimension reduction method, based on at least one of: the training TSCI, at least one current TSCI before retraining the projection, and/or additional training TSCI. The another dimension reduction method may comprise at least one of: principal component analysis (PCA), PCA with different kernels, independent component analysis (ICA), Fisher linear discriminant, vector quantization, supervised learning, unsupervised learning, self-organizing maps, auto-encoder, neural network, deep neural network, and/or yet another method. The classifier of the at least one event may be re-trained based on at least one of: the re-trained projection, the training TSCI associated with the at least one events, and/or at least one current TSCI. The at least one current TSCI may be classified based on: the re-trained projection, the re-trained classifier, and/or the current TSCI.

Each CI may comprise a vector of complex values. Each complex value may be preprocessed to give the magnitude of the complex value. Each CI may be preprocessed to give a vector of non-negative real numbers comprising the magnitude of corresponding complex values. Each training TSCI may be weighted in the training of the projection. The projection may comprise more than one projected components. The projection may comprise at least one most significant projected component. The projection may comprise at least one projected component that may be beneficial for the classifier.

Channel/Channel Information/Venue/Spatial-Temporal Info/Motion/Object

The channel information (CI) may be associated with/may comprise signal strength, signal amplitude, signal phase, spectral power measurement, modem parameters (e.g. used in relation to modulation/demodulation in digital communication systems such as WiFi, 4G/LTE), dynamic beamforming information (including feedback or steering matrices generated by wireless communication devices, according to a standardized process, e.g., IEEE 802.11, or another standard), transfer function components, radio state (e.g. used in digital communication systems to decode digital data, baseband processing state, RF processing state, etc.), measurable variables, sensed data, coarse-grained/fine-grained information of a layer (e.g. physical layer, data link layer, MAC layer, etc.), digital setting, gain setting, RF filter setting, RF front end switch setting, DC offset setting, DC correction setting, IQ compensation setting, effect(s) on the wireless signal by the environment (e.g. venue) during propagation, transformation of an input signal (the wireless signal transmitted by the Type 1 device) to an output signal (the wireless signal received by the Type 2 device), a stable behavior of the environment, a state profile, wireless channel measurements, received signal strength indicator (RSSI), channel state information (CSI), channel impulse response (CIR), channel frequency response (CFR), characteristics of frequency components (e.g. subcarriers) in a bandwidth, channel characteristics, channel filter response, timestamp, auxiliary information, data, meta data, user data, account data, access data, security data, session data, status data, supervisory data, household data, identity (ID), identifier, device data, network data, neighborhood data, environment data, real-time data, sensor data, stored data, encrypted data, compressed data, protected data, and/or another channel information. Each CI may be associated with a time stamp, and/or an arrival time. A CSI can be used to equalize/undo/minimize/reduce the multipath channel effect (of the transmission channel) to demodulate a signal similar to the one transmitted by the transmitter through the multipath channel. The CI may be associated with information associated with a frequency band, frequency signature, frequency phase, frequency amplitude, frequency trend, frequency characteristics, frequency-like characteristics, time domain element, frequency domain element, time-frequency domain element, orthogonal decomposition characteristics, and/or non-orthogonal decomposition characteristics of the signal through the channel. The TSCI may be a stream of wireless signals (e.g. CI).

The CI may be preprocessed, processed, postprocessed, stored (e.g. in local memory, portable/mobile memory, removable memory, storage network, cloud memory, in a volatile manner, in a non-volatile manner), retrieved, transmitted and/or received. One or more modem parameters and/or radio state parameters may be held constant. The modem parameters may be applied to a radio subsystem. The modem parameters may represent a radio state. A motion detection signal (e.g. baseband signal, and/or packet decoded/demodulated from the baseband signal, etc.) may be obtained by processing (e.g. down-converting) the first wireless signal (e.g. RF/WiFi/LTE/5G signal) by the radio subsystem using the radio state represented by the stored modem parameters. The modem parameters/radio state may be updated (e.g. using previous modem parameters or previous radio state). Both the previous and updated modem parameters/radio states may be applied in the radio subsystem in the digital communication system. Both the previous and updated modem parameters/radio states may be compared/analyzed/processed/monitored in the task.

The channel information may also be modem parameters (e.g. stored or freshly computed) used to process the wireless signal. The wireless signal may comprise a plurality of probe signals. The same modem parameters may be used to process more than one probe signals. The same modem parameters may also be used to process more than one wireless signals. The modem parameters may comprise parameters that indicate settings or an overall configuration for the operation of a radio subsystem or a baseband subsystem of a wireless sensor device (or both). The modem parameters may include one or more of: a gain setting, an RF filter setting, an RF front end switch setting, a DC offset setting, or an IQ compensation setting for a radio subsystem, or a digital DC correction setting, a digital gain setting, and/or a digital filtering setting (e.g. for a baseband subsystem). The CI may also be associated with information associated with a time period, time signature, timestamp, time amplitude, time phase, time trend, and/or time characteristics of the signal. The CI may be associated with information associated with a time-frequency partition, signature, amplitude, phase, trend, and/or characteristics of the signal. The CI may be associated with a decomposition of the signal. The CI may be associated with information associated with a direction, angle of arrival (AoA), angle of a directional antenna, and/or a phase of the signal through the channel. The CI may be associated with attenuation patterns of the signal through the channel. Each CI may be associated with a Type 1 device and a Type 2 device. Each CI may be associated with an antenna of the Type 1 device and an antenna of the Type 2 device.

The CI may be obtained from a communication hardware (e.g. of Type 2 device, or Type 1 device) that is capable of providing the CI. The communication hardware may be a WiFi-capable chip/IC (integrated circuit), chip compliant with a 802.11 or 802.16 or another wireless/radio standard, next generation WiFi-capable chip, LTE-capable chip, 5G-capable chip, 6G/7G/8G-capable chip, Bluetooth-enabled chip, NFC (near field communication)-enabled chip, BLE (Bluetooth low power)-enabled chip, UWB chip, another communication chip (e.g. Zigbee, WiMax, mesh network), etc. The communication hardware computes the CI and stores the CI in a buffer memory and make the CI available for extraction. The CI may comprise data and/or at least one matrices related to channel state information (CSI). The at least one matrices may be used for channel equalization, and/or beam forming, etc. The channel may be associated with a venue. The attenuation may be due to signal propagation in the venue, signal propagating/reflection/refraction/diffraction through/at/around air (e.g. air of venue), refraction medium/reflection surface such as wall, doors, furniture, obstacles and/or barriers, etc. The attenuation may be due to reflection at surfaces and obstacles (e.g. reflection surface, obstacle) such as floor, ceiling, furniture, fixtures, objects, people, pets, etc. Each CI may be associated with a timestamp. Each CI may comprise N1 components (e.g. N1 frequency domain components in CFR, N1 time domain components in CIR, or N1 decomposition components). Each component may be associated with a component index. Each component may be a real, imaginary, or complex quantity, magnitude, phase, flag, and/or set. Each CI may comprise a vector or matrix of complex numbers, a set of mixed quantities, and/or a multi-dimensional collection of at least one complex numbers.

Components of a TSCI associated with a particular component index may form a respective component time series associated with the respective index. A TSCI may be divided into N1 component time series. Each respective component time series is associated with a respective component index. The characteristics/STI of the motion of the object may be monitored based on the component time series. In one example, one or more ranges of CI components (e.g. one range being from component 11 to component 23, a second range being from component 44 to component 50, and a third range having only one component) may be selected based on some criteria/cost function/signal quality metric (e.g. based on signal-to-noise ratio, and/or interference level) for further processing.

A component-wise characteristic of a component-feature time series of a TSCI may be computed. The component-wise characteristics may be a scalar (e.g. energy) or a function with a domain and a range (e.g. an autocorrelation function, transform, inverse transform). The characteristics/STI of the motion of the object may be monitored based on the component-wise characteristics. A total characteristics (e.g. aggregate characteristics) of the TSCI may be computed based on the component-wise characteristics of each component time series of the TSCI. The total characteristics may be a weighted average of the component-wise characteristics. The characteristics/STI of the motion of the object may be monitored based on the total characteristics. An aggregate quantity may be a weighted average of individual quantities.

The Type 1 device and Type 2 device may support WiFi, WiMax, 3G/beyond 3G, 4G/beyond 4G, LTE, LTE-A, 5G, 6G, 7G, Bluetooth, NFC, BLE, Zigbee, UWB, UMTS, 3GPP, GSM, EDGE, TDMA, FDMA, CDMA, WCDMA, TD-SCDMA, mesh network, proprietary wireless system, IEEE 802.11 standard, 802.15 standard, 802.16 standard, 3GPP standard, and/or another wireless system.

A common wireless system and/or a common wireless channel may be shared by the Type 1 transceiver and/or the at least one Type 2 transceiver. The at least one Type 2 transceiver may transmit respective signal contemporaneously (or: asynchronously, synchronously, sporadically, continuously, repeatedly, concurrently, simultaneously and/or temporarily) using the common wireless system and/or the common wireless channel. The Type 1 transceiver may transmit a signal to the at least one Type 2 transceiver using the common wireless system and/or the common wireless channel.

Each Type 1 device and Type 2 device may have at least one transmitting/receiving antenna. Each CI may be associated with one of the transmitting antenna of the Type 1 device and one of the receiving antenna of the Type 2 device. Each pair of a transmitting antenna and a receiving antenna may be associated with a link, a path, a communication path, signal hardware path, etc. For example, if the Type 1 device has M (e.g. 3) transmitting antennas, and the Type 2 device has N (e.g. 2) receiving antennas, there may be M×N (e.g. 3×2=6) links or paths. Each link or path may be associated with a TSCI.

The at least one TSCI may correspond to various antenna pairs between the Type 1 device and the Type 2 device. The Type 1 device may have at least one antenna. The Type 2 device may also have at least one antenna. Each TSCI may be associated with an antenna of the Type 1 device and an antenna of the Type 2 device. Averaging or weighted averaging over antenna links may be performed. The averaging or weighted averaging may be over the at least one TSCI. The averaging may optionally be performed on a subset of the at least one TSCI corresponding to a subset of the antenna pairs.

Timestamps of CI of a portion of a TSCI may be irregular and may be corrected so that corrected timestamps of time-corrected CI may be uniformly spaced in time. In the case of multiple Type 1 devices and/or multiple Type 2 devices, the corrected timestamp may be with respect to the same or different clock. An original timestamp associated with each of the CI may be determined. The original timestamp may not be uniformly spaced in time. Original timestamps of all CI of the particular portion of the particular TSCI in the current sliding time window may be corrected so that corrected timestamps of time-corrected CI may be uniformly spaced in time.

The characteristics and/or STI (e.g. motion information) may comprise: location, location coordinate, change in location, position (e.g. initial position, new position), position on map, height, horizontal location, vertical location, distance, displacement, speed, acceleration, rotational speed, rotational acceleration, direction, angle of motion, azimuth, direction of motion, rotation, path, deformation, transformation, shrinking, expanding, gait, gait cycle, head motion, repeated motion, periodic motion, pseudo-periodic motion, impulsive motion, sudden motion, fall-down motion, transient motion, behavior, transient behavior, period of motion, frequency of motion, time trend, temporal profile, temporal characteristics, occurrence, change, temporal change, change of CI, change in frequency, change in timing, change of gait cycle, timing, starting time, initiating time, ending time, duration, history of motion, motion type, motion classification, frequency, frequency spectrum, frequency characteristics, presence, absence, proximity, approaching, receding, identity/identifier of the object, composition of the object, head motion rate, head motion direction, mouth-related rate, eye-related rate, breathing rate, heart rate, tidal volume, depth of breath, inhale time, exhale time, inhale time to exhale time ratio, airflow rate, heart heat-to-beat interval, heart rate variability, hand motion rate, hand motion direction, leg motion, body motion, walking rate, hand motion rate, positional characteristics, characteristics associated with movement (e.g. change in position/location) of the object, tool motion, machine motion, complex motion, and/or combination of multiple motions, event, signal statistics, signal dynamics, anomaly, motion statistics, motion parameter, indication of motion detection, motion magnitude, motion phase, similarity score, distance score, Euclidean distance, weighted distance, L_1 norm, L_2 norm, L_k norm for k>2, statistical distance, correlation, correlation indicator, auto-correlation, covariance, auto-covariance, cross-covariance, inner product, outer product, motion signal transformation, motion feature, presence of motion, absence of motion, motion localization, motion identification, motion recognition, presence of object, absence of object, entrance of object, exit of object, a change of object, motion cycle, motion count, gait cycle, motion rhythm, deformation motion, gesture, handwriting, head motion, mouth motion, heart motion, internal organ motion, motion trend, size, length, area, volume, capacity, shape, form, tag, starting/initiating location, ending location, starting/initiating quantity, ending quantity, event, fall-down event, security event, accident event, home event, office event, factory event, warehouse event, manufacturing event, assembly line event, maintenance event, car-related event, navigation event, tracking event, door event, door-open event, door-close event, window event, window-open event, window-close event, repeatable event, one-time event, consumed quantity, unconsumed quantity, state, physical state, health state, well-being state, emotional state, mental state, another event, analytics, output responses, and/or another information. The characteristics and/or STI may be computed/monitored based on a feature computed from a CI or a TSCI (e.g. feature computation/extraction). A static segment or profile (and/or a dynamic segment/profile) may be identified/computed/analyzed/monitored/extracted/obtained/marked/presented/indicated/highlighted/stored/communicated based on an analysis of the feature. The analysis may comprise a motion detection/movement assessment/presence detection. Computational workload may be shared among the Type 1 device, the Type 2 device and another processor.

The Type 1 device and/or Type 2 device may be a local device. The local device may be: a smart phone, smart device, TV, sound bar, set-top box, access point, router, repeater, wireless signal repeater/extender, remote control, speaker, fan, refrigerator, microwave, oven, coffee machine, hot water pot, utensil, table, chair, light, lamp, door lock, camera, microphone, motion sensor, security device, fire hydrant, garage door, switch, power adapter, computer, dongle, computer peripheral, electronic pad, sofa, tile, accessory, home device, vehicle device, office device, building device, manufacturing device, watch, glasses, clock, television, oven, air-conditioner, accessory, utility, appliance, smart machine, smart vehicle, internet-of-thing (IoT) device, internet-enabled device, computer, portable computer, tablet, smart house, smart office, smart building, smart parking lot, smart system, and/or another device.

Each Type 1 device may be associated with a respective identifier (e.g. ID). Each Type 2 device may also be associated with a respective identify (ID). The ID may comprise: numeral, combination of text and numbers, name, password, account, account ID, web link, web address, index to some information, and/or another ID. The ID may be assigned. The ID may be assigned by hardware (e.g. hardwired, via dongle and/or other hardware), software and/or firmware. The ID may be stored (e.g. in database, in memory, in server (e.g. hub device), in the cloud, stored locally, stored remotely, stored permanently, stored temporarily) and may be retrieved. The ID may be associated with at least one record, account, user, household, address, phone number, social security number, customer number, another ID, another identifier, timestamp, and/or collection of data. The ID and/or part of the ID of a Type 1 device may be made available to a Type 2 device. The ID may be used for registration, initialization, communication, identification, verification, detection, recognition, authentication, access control, cloud access, networking, social networking, logging, recording, cataloging, classification, tagging, association, pairing, transaction, electronic transaction, and/or intellectual property control, by the Type 1 device and/or the Type 2 device.

The object may be person, user, subject, passenger, child, older person, baby, sleeping baby, baby in vehicle, patient, worker, high-value worker, expert, specialist, waiter, customer in mall, traveler in airport/train station/bus terminal/shipping terminals, staff/worker/customer service personnel in factory/mall/supermarket/office/workplace, serviceman in sewage/air ventilation system/lift well, lifts in lift wells, elevator, inmate, people to be tracked/monitored, animal, plant, living object, pet, dog, cat, smart phone, phone accessory, computer, tablet, portable computer, dongle, computing accessory, networked devices, WiFi devices, IoT devices, smart watch, smart glasses, smart devices, speaker, keys, smart key, wallet, purse, handbag, backpack, goods, cargo, luggage, equipment, motor, machine, air conditioner, fan, air conditioning equipment, light fixture, moveable light, television, camera, audio and/or video equipment, stationary, surveillance equipment, parts, signage, tool, cart, ticket, parking ticket, toll ticket, airplane ticket, credit card, plastic card, access card, food packaging, utensil, table, chair, cleaning equipment/tool, vehicle, car, cars in parking facilities, merchandise in warehouse/store/supermarket/distribution center, boat, bicycle, airplane, drone, remote control car/plane/boat, robot, manufacturing device, assembly line, material/unfinished part/robot/wagon/transports on factory floor, object to be tracked in airport/shopping mart/supermarket, non-object, absence of an object, presence of an object, object with form, object with changing form, object with no form, mass of fluid, mass of liquid, mass of gas/smoke, fire, flame, electromagnetic (EM) source, EM medium, and/or another object.

The object itself may be communicatively coupled with some network, such as WiFi, MiFi, 3G/4G/LTE/5G/6G/7G, Bluetooth, NFC, BLE, WiMax, Zigbee, UMTS, 3GPP, GSM, EDGE, TDMA, FDMA, CDMA, WCDMA, TD-SCDMA, mesh network, adhoc network, and/or other network. The object itself may be bulky with AC power supply, but is moved during installation, cleaning, maintenance, renovation, etc. It may also be installed in moveable platform such as lift, pad, movable, platform, elevator, conveyor belt, robot, drone, forklift, car, boat, vehicle, etc. The object may have multiple parts, each part with different movement (e.g. change in position/location). For example, the object may be a person walking forward. While walking, his left hand and right hand may move in different direction, with different instantaneous speed, acceleration, motion, etc.

The wireless transmitter (e.g. Type 1 device), the wireless receiver (e.g. Type 2 device), another wireless transmitter and/or another wireless receiver may move with the object and/or another object (e.g. in prior movement, current movement and/or future movement. They may be communicatively coupled to one or more nearby device. They may transmit TSCI and/or information associated with the TSCI to the nearby device, and/or each other. They may be with the nearby device. The wireless transmitter and/or the wireless receiver may be part of a small (e.g. coin-size, cigarette box size, or even smaller), light-weight portable device. The portable device may be wirelessly coupled with a nearby device.

The nearby device may be smart phone, iPhone, Android phone, smart device, smart appliance, smart vehicle, smart gadget, smart TV, smart refrigerator, smart speaker, smart watch, smart glasses, smart pad, iPad, computer, wearable computer, notebook computer, gateway. The nearby device may be connected to a cloud server, local server (e.g. hub device) and/or other server via internet, wired internet connection and/or wireless internet connection. The nearby device may be portable. The portable device, the nearby device, a local server (e.g. hub device) and/or a cloud server may share the computation and/or storage for a task (e.g. obtain TSCI, determine characteristics/STI of the object associated with the movement (e.g. change in position/location) of the object, computation of time series of power (e.g. signal strength) information, determining/computing the particular function, searching for local extremum, classification, identifying particular value of time offset, de-noising, processing, simplification, cleaning, wireless smart sensing task, extract CI from signal, switching, segmentation, estimate trajectory/path/track, process the map, processing trajectory/path/track based on environment models/constraints/limitations, correction, corrective adjustment, adjustment, map-based (or model-based) correction, detecting error, checking for boundary hitting, thresholding) and information (e.g. TSCI). The nearby device may/may not move with the object. The nearby device may be portable/not portable/moveable/non-moveable. The nearby device may use battery power, solar power, AC power and/or other power source. The nearby device may have replaceable/non-replaceable battery, and/or rechargeable/non-rechargeable battery. The nearby device may be similar to the object. The nearby device may have identical (and/or similar) hardware and/or software to the object. The nearby device may be a smart device, network enabled device, device with connection to WiFi/3G/4G/5G/6G/Zigbee/Bluetooth/NFC/UMTS/3GPP/GSM/EDGE/TDMA/FDMA/CDMA/WCDMA/TD-SCDMA/adhoc network/other network, smart speaker, smart watch, smart clock, smart appliance, smart machine, smart equipment, smart tool, smart vehicle, internet-of-thing (IoT) device, internet-enabled device, computer, portable computer, tablet, and another device. The nearby device and/or at least one processor associated with the wireless receiver, the wireless transmitter, the another wireless receiver, the another wireless transmitter and/or a cloud server (in the cloud) may determine the initial STI of the object. Two or more of them may determine the initial spatial-temporal info jointly. Two or more of them may share intermediate information in the determination of the initial STI (e.g. initial position).

In one example, the wireless transmitter (e.g. Type 1 device, or Tracker Bot) may move with the object. The wireless transmitter may send the signal to the wireless receiver (e.g. Type 2 device, or Origin Register) or determining the initial STI (e.g. initial position) of the object. The wireless transmitter may also send the signal and/or another signal to another wireless receiver (e.g. another Type 2 device, or another Origin Register) for the monitoring of the motion (spatial-temporal info) of the object. The wireless receiver may also receive the signal and/or another signal from the wireless transmitter and/or the another wireless transmitter for monitoring the motion of the object. The location of the wireless receiver and/or the another wireless receiver may be known. In another example, the wireless receiver (e.g. Type 2 device, or Tracker Bot) may move with the object. The wireless receiver may receive the signal transmitted from the wireless transmitter (e.g. Type 1 device, or Origin Register) for determining the initial spatial-temporal info (e.g. initial position) of the object. The wireless receiver may also receive the signal and/or another signal from another wireless transmitter (e.g. another Type 1 device, or another Origin Register) for the monitoring of the current motion (e.g. spatial-temporal info) of the object. The wireless transmitter may also transmit the signal and/or another signal to the wireless receiver and/or the another wireless receiver (e.g. another Type 2 device, or another Tracker Bot) for monitoring the motion of the object. The location of the wireless transmitter and/or the another wireless transmitter may be known.

The venue may be a space such as a sensing area, room, house, office, property, workplace, hallway, walkway, lift, lift well, escalator, elevator, sewage system, air ventilations system, staircase, gathering area, duct, air duct, pipe, tube, enclosed space, enclosed structure, semi-enclosed structure, enclosed area, area with at least one wall, plant, machine, engine, structure with wood, structure with glass, structure with metal, structure with walls, structure with doors, structure with gaps, structure with reflection surface, structure with fluid, building, roof top, store, factory, assembly line, hotel room, museum, classroom, school, university, government building, warehouse, garage, mall, airport, train station, bus terminal, hub, transportation hub, shipping terminal, government facility, public facility, school, university, entertainment facility, recreational facility, hospital, pediatric/neonatal wards, seniors home, elderly care facility, geriatric facility, community center, stadium, playground, park, field, sports facility, swimming facility, track and/or field, basketball court, tennis court, soccer stadium, baseball stadium, gymnasium, hall, garage, shopping mart, mall, supermarket, manufacturing facility, parking facility, construction site, mining facility, transportation facility, highway, road, valley, forest, wood, terrain, landscape, den, patio, land, path, amusement park, urban area, rural area, suburban area, metropolitan area, garden, square, plaza, music hall, downtown facility, over-air facility, semi-open facility, closed area, train platform, train station, distribution center, warehouse, store, distribution center, storage facility, underground facility, space (e.g. above ground, outer-space) facility, floating facility, cavern, tunnel facility, indoor facility, open-air facility, outdoor facility with some walls/doors/reflective barriers, open facility, semi-open facility, car, truck, bus, van, container, ship/boat, submersible, train, tram, airplane, vehicle, mobile home, cave, tunnel, pipe, channel, metropolitan area, downtown area with relatively tall buildings, valley, well, duct, pathway, gas line, oil line, water pipe, network of interconnecting pathways/alleys/roads/tubes/cavities/caves/pipe-like structure/air space/fluid space, human body, animal body, body cavity, organ, bone, teeth, soft tissue, hard tissue, rigid tissue, non-rigid tissue, blood/body fluid vessel, windpipe, air duct, den, etc. The venue may be indoor space, outdoor space, The venue may include both the inside and outside of the space. For example, the venue may include both the inside of a building and the outside of the building. For example, the venue can be a building that has one floor or multiple floors, and a portion of the building can be underground. The shape of the building can be, e.g., round, square, rectangular, triangle, or irregular-shaped. These are merely examples. The disclosure can be used to detect events in other types of venue or spaces.

The wireless transmitter (e.g. Type 1 device) and/or the wireless receiver (e.g. Type 2 device) may be embedded in a portable device (e.g. a module, or a device with the module) that may move with the object (e.g. in prior movement and/or current movement). The portable device may be communicatively coupled with the object using a wired connection (e.g. through USB, microUSB, Firewire, HDMI, serial port, parallel port, and other connectors) and/or a connection (e.g. Bluetooth, Bluetooth Low Energy (BLE), WiFi, LTE, NFC, ZigBee). The portable device may be a lightweight device. The portable may be powered by battery, rechargeable battery and/or AC power. The portable device may be very small (e.g. at sub-millimeter scale and/or sub-centimeter scale), and/or small (e.g. coin-size, card-size, pocket-size, or larger). The portable device may be large, sizable, and/or bulky (e.g. heavy machinery to be installed). The portable device may be a WiFi hotspot, access point, mobile WiFi (MiFi), dongle with USB/micro USB/Firewire/other connector, smartphone, portable computer, computer, tablet, smart device, internet-of-thing (IoT) device, WiFi-enabled device, LTE-enabled device, a smart watch, smart glass, smart mirror, smart antenna, smart battery, smart light, smart pen, smart ring, smart door, smart window, smart clock, small battery, smart wallet, smart belt, smart handbag, smart clothing/garment, smart ornament, smart packaging, smart paper/book/magazine/poster/printed matter/signage/display/lighted system/lighting system, smart key/tool, smart bracelet/chain/necklace/wearable/accessory, smart pad/cushion, smart tile/block/brick/building material/other material, smart garbage can/waste container, smart food carriage/storage, smart ball/racket, smart chair/sofa/bed, smart shoe/footwear/carpet/mat/shoe rack, smart glove/hand wear/ring/hand ware, smart hat/headwear/makeup/sticker/tattoo, smart mirror, smart toy, smart pill, smart utensil, smart bottle/food container, smart tool, smart device, IoT device, WiFi enabled device, network enabled device, 3G/4G/5G/6G enabled device, UMTS devices, 3GPP devices, GSM devices, EDGE devices, TDMA devices, FDMA devices, CDMA devices, WCDMA devices, TD-SCDMA devices, embeddable device, implantable device, air conditioner, refrigerator, heater, furnace, furniture, oven, cooking device, television/set-top box (STB)/DVD player/audio player/video player/remote control, hi-fi, audio device, speaker, lamp/light, wall, door, window, roof, roof tile/shingle/structure/attic structure/device/feature/installation/fixtures, lawn mower/garden tools/yard tools/mechanics tools/garage tools/, garbage can/container, 20-ft/40-ft container, storage container, factory/manufacturing/production device, repair tools, fluid container, machine, machinery to be installed, vehicle, cart, wagon, warehouse vehicle, car, bicycle, motorcycle, boat, vessel, airplane, basket/box/bag/bucket/container, smart plate/cup/bowl/pot/mat/utensils/kitchen tools/kitchen devices/kitchen accessories/cabinets/tables/chairs/tiles/lights/water pipes/taps/gas range/oven/dishwashing machine/etc. The portable device may have a battery that may be replaceable, irreplaceable, rechargeable, and/or non-rechargeable. The portable device may be wirelessly charged. The portable device may be a smart payment card. The portable device may be a payment card used in parking lots, highways, entertainment parks, or other venues/facilities that need payment. The portable device may have an identity (ID)/identifier as described above.

An event may be monitored based on the TSCI. The event may be an object related event, such as fall-down of the object (e.g. an person and/or a sick person), rotation, hesitation, pause, impact (e.g. a person hitting a sandbag, door, window, bed, chair, table, desk, cabinet, box, another person, animal, bird, fly, table, chair, ball, bowling ball, tennis ball, football, soccer ball, baseball, basketball, volley ball), two-body action (e.g. a person letting go a balloon, catching a fish, molding a clay, writing a paper, person typing on a computer), car moving in a garage, person carrying a smart phone and walking around an airport/mall/government building/office/etc., autonomous moveable object/machine moving around (e.g. vacuum cleaner, utility vehicle, car, drone, self-driving car).

The task or the wireless smart sensing task may comprise: object detection, presence detection, proximity detection, object recognition, activity recognition, object verification, object counting, daily activity monitoring, well-being monitoring, vital sign monitoring, health condition monitoring, baby monitoring, elderly monitoring, sleep monitoring, sleep stage monitoring, walking monitoring, exercise monitoring, tool detection, tool recognition, tool verification, patient detection, patient monitoring, patient verification, machine detection, machine recognition, machine verification, human detection, human recognition, human verification, baby detection, baby recognition, baby verification, human breathing detection, human breathing recognition, human breathing estimation, human breathing verification, human heart beat detection, human heart beat recognition, human heart beat estimation, human heart beat verification, fall-down detection, fall-down recognition, fall-down estimation, fall-down verification, emotion detection, emotion recognition, emotion estimation, emotion verification, motion detection, motion degree estimation, motion recognition, motion estimation, motion verification, periodic motion detection, periodic motion recognition, periodic motion estimation, periodic motion verification, repeated motion detection, repeated motion recognition, repeated motion estimation, repeated motion verification, stationary motion detection, stationary motion recognition, stationary motion estimation, stationary motion verification, cyclo-stationary motion detection, cyclo-stationary motion recognition, cyclo-stationary motion estimation, cyclo-stationary motion verification, transient motion detection, transient motion recognition, transient motion estimation, transient motion verification, trend detection, trend recognition, trend estimation, trend verification, breathing detection, breathing recognition, breathing estimation, breathing estimation, human biometrics detection, human biometric recognition, human biometrics estimation, human biometrics verification, environment informatics detection, environment informatics recognition, environment informatics estimation, environment informatics verification, gait detection, gait recognition, gait estimation, gait verification, gesture detection, gesture recognition, gesture estimation, gesture verification, machine learning, supervised learning, unsupervised learning, semi-supervised learning, clustering, feature extraction, featuring training, principal component analysis, eigen-decomposition, frequency decomposition, time decomposition, time-frequency decomposition, functional decomposition, other decomposition, training, discriminative training, supervised training, unsupervised training, semi-supervised training, neural network, sudden motion detection, fall-down detection, danger detection, life-threat detection, regular motion detection, stationary motion detection, cyclo-stationary motion detection, intrusion detection, suspicious motion detection, security, safety monitoring, navigation, guidance, map-based processing, map-based correction, model-based processing/correction, irregularity detection, locationing, room sensing, tracking, multiple object tracking, indoor tracking, indoor position, indoor navigation, energy management, power transfer, wireless power transfer, object counting, car tracking in parking garage, activating a device/system (e.g. security system, access system, alarm, siren, speaker, television, entertaining system, camera, heater/air-conditioning (HVAC) system, ventilation system, lighting system, gaming system, coffee machine, cooking device, cleaning device, housekeeping device), geometry estimation, augmented reality, wireless communication, data communication, signal broadcasting, networking, coordination, administration, encryption, protection, cloud computing, other processing and/or other task. The task may be performed by the Type 1 device, the Type 2 device, another Type 1 device, another Type 2 device, a nearby device, a local server (e.g. hub device), edge server, a cloud server, and/or another device. The task may be based on TSCI between any pair of Type 1 device and Type 2 device. A Type 2 device may be a Type 1 device, and vice versa. A Type 2 device may play/perform the role (e.g. functionality) of Type 1 device temporarily, continuously, sporadically, simultaneously, and/or contemporaneously, and vice versa. A first part of the task may comprise at least one of: preprocessing, processing, signal conditioning, signal processing, post-processing, processing sporadically/continuously/simultaneously/contemporaneously/dynamically/adaptive/on-demand/as-needed, calibrating, denoising, feature extraction, coding, encryption, transformation, mapping, motion detection, motion estimation, motion change detection, motion pattern detection, motion pattern estimation, motion pattern recognition, vital sign detection, vital sign estimation, vital sign recognition, periodic motion detection, periodic motion estimation, repeated motion detection/estimation, breathing rate detection, breathing rate estimation, breathing pattern detection, breathing pattern estimation, breathing pattern recognition, heart beat detection, heart beat estimation, heart pattern detection, heart pattern estimation, heart pattern recognition, gesture detection, gesture estimation, gesture recognition, speed detection, speed estimation, object locationing, object tracking, navigation, acceleration estimation, acceleration detection, fall-down detection, change detection, intruder (and/or illegal action) detection, baby detection, baby monitoring, patient monitoring, object recognition, wireless power transfer, and/or wireless charging.

A second part of the task may comprise at least one of: a smart home task, smart office task, smart building task, smart factory task (e.g. manufacturing using a machine or an assembly line), smart internet-of-thing (IoT) task, smart system task, smart home operation, smart office operation, smart building operation, smart manufacturing operation (e.g. moving supplies/parts/raw material to a machine/an assembly line), IoT operation, smart system operation, turning on a light, turning off the light, controlling the light in at least one of: a room, region, and/or the venue, playing a sound clip, playing the sound clip in at least one of: the room, the region, and/or the venue, playing the sound clip of at least one of: a welcome, greeting, farewell, first message, and/or a second message associated with the first part of the task, turning on an appliance, turning off the appliance, controlling the appliance in at least one of: the room, the region, and/or the venue, turning on an electrical system, turning off the electrical system, controlling the electrical system in at least one of: the room, the region, and/or the venue, turning on a security system, turning off the security system, controlling the security system in at least one of: the room, the region, and/or the venue, turning on a mechanical system, turning off a mechanical system, controlling the mechanical system in at least one of: the room, the region, and/or the venue, and/or controlling at least one of: an air conditioning system, heating system, ventilation system, lighting system, heating device, stove, entertainment system, door, fence, window, garage, computer system, networked device, networked system, home appliance, office equipment, lighting device, robot (e.g. robotic arm), smart vehicle, smart machine, assembly line, smart device, internet-of-thing (IoT) device, smart home device, and/or a smart office device.

The task may include: detect a user returning home, detect a user leaving home, detect a user moving from one room to another, detect/control/lock/unlock/open/close/partially open a window/door/garage door/blind/curtain/panel/solar panel/sun shade, detect a pet, detect/monitor a user doing something (e.g. sleeping on sofa, sleeping in bedroom, running on treadmill, cooking, sitting on sofa, watching TV, eating in kitchen, eating in dining room, going upstairs/downstairs, going outside/coming back, in the rest room), monitor/detect location of a user/pet, do something (e.g. send a message, notify/report to someone) automatically upon detection, do something for the user automatically upon detecting the user, turn on/off/dim a light, turn on/off music/radio/home entertainment system, turn on/off/adjust/control TV/HiFi/set-top-box (STB)/home entertainment system/smart speaker/smart device, turn on/off/adjust air conditioning system, turn on/off/adjust ventilation system, turn on/off/adjust heating system, adjust/control curtains/light shades, turn on/off/wake a computer, turn on/off/pre-heat/control coffee machine/hot water pot, turn on/off/control/preheat cooker/oven/microwave oven/another cooking device, check/adjust temperature, check weather forecast, check telephone message box, check mail, do a system check, control/adjust a system, check/control/arm/disarm security system/baby monitor, check/control refrigerator, give a report (e.g. through a speaker such as Google home, Amazon Echo, on a display/screen, via a webpage/email/messaging system/notification system).

For example, when a user arrives home in his car, the task may be to, automatically, detect the user or his car approaching, open the garage door upon detection, turn on the driveway/garage light as the user approaches the garage, turn on air conditioner/heater/fan, etc. As the user enters the house, the task may be to, automatically, turn on the entrance light, turn off driveway/garage light, play a greeting message to welcome the user, turn on the music, turn on the radio and tuning to the user's favorite radio news channel, open the curtain/blind, monitor the user's mood, adjust the lighting and sound environment according to the user's mood or the current/imminent event (e.g. do romantic lighting and music because the user is scheduled to eat dinner with girlfriend in 1 hour) on the user's daily calendar, warm the food in microwave that the user prepared in the morning, do a diagnostic check of all systems in the house, check weather forecast for tomorrow's work, check news of interest to the user, check user's calendar and to-do list and play reminder, check telephone answer system/messaging system/email and give a verbal report using dialog system/speech synthesis, remind (e.g. using audible tool such as speakers/HiFi/speech synthesis/sound/voice/music/song/sound field/background sound field/dialog system, using visual tool such as TV/entertainment system/computer/notebook/smart pad/display/light/color/brightness/patterns/symbols, using haptic tool/virtual reality tool/gesture/tool, using a smart device/appliance/material/furniture/fixture, using web tool/server/hub device/cloud server/fog server/edge server/home network/mesh network, using messaging tool/notification tool/communication tool/scheduling tool/email, using user interface/GUI, using scent/smell/fragrance/taste, using neural tool/nervous system tool, using a combination) the user of his mother's birthday and to call her, prepare a report, and give the report (e.g. using a tool for reminding as discussed above). The task may turn on the air conditioner/heater/ventilation system in advance, or adjust temperature setting of smart thermostat in advance, etc. As the user moves from the entrance to the living room, the task may be to turn on the living room light, open the living room curtain, open the window, turn off the entrance light behind the user, turn on the TV and set-top box, set TV to the user's favorite channel, adjust an appliance according to the user's preference and conditions/states (e.g. adjust lighting and choose/play music to build a romantic atmosphere), etc.

Another example may be: When the user wakes up in the morning, the task may be to detect the user moving around in the bedroom, open the blind/curtain, open the window, turn off the alarm clock, adjust indoor temperature from night-time temperature profile to day-time temperature profile, turn on the bedroom light, turn on the restroom light as the user approaches the restroom, check radio or streaming channel and play morning news, turn on the coffee machine and preheat the water, turn off security system, etc. When the user walks from bedroom to kitchen, the task may be to turn on the kitchen and hallway lights, turn off the bedroom and restroom lights, move the music/message/reminder from the bedroom to the kitchen, turn on the kitchen TV, change TV to morning news channel, lower the kitchen blind and open the kitchen window to bring in fresh air, unlock backdoor for the user to check the backyard, adjust temperature setting for the kitchen, etc. Another example may be: When the user leaves home for work, the task may be to detect the user leaving, play a farewell and/or have-a-good-day message, open/close garage door, turn on/off garage light and driveway light, turn off/dim lights to save energy (just in case the user forgets), close/lock all windows/doors (just in case the user forgets), turn off appliance (especially stove, oven, microwave oven), turn on/arm the home security system to guard the home against any intruder, adjust air conditioning/heating/ventilation systems to “away-from-home” profile to save energy, send alerts/reports/updates to the user's smart phone, etc.

A motion may comprise at least one of: a no-motion, resting motion, non-moving motion, movement, change in position/location, deterministic motion, transient motion, fall-down motion, repeating motion, periodic motion, pseudo-periodic motion, periodic/repeated motion associated with breathing, periodic/repeated motion associated with heartbeat, periodic/repeated motion associated with living object, periodic/repeated motion associated with machine, periodic/repeated motion associated with man-made object, periodic/repeated motion associated with nature, complex motion with transient element and periodic element, repetitive motion, non-deterministic motion, probabilistic motion, chaotic motion, random motion, complex motion with non-deterministic element and deterministic element, stationary random motion, pseudo-stationary random motion, cyclo-stationary random motion, non-stationary random motion, stationary random motion with periodic autocorrelation function (ACF), random motion with periodic ACF for period of time, random motion that is pseudo-stationary for a period of time, random motion of which an instantaneous ACF has a pseudo-periodic/repeating element for a period of time, machine motion, mechanical motion, vehicle motion, drone motion, air-related motion, wind-related motion, weather-related motion, water-related motion, fluid-related motion, ground-related motion, change in electro-magnetic characteristics, sub-surface motion, seismic motion, plant motion, animal motion, human motion, normal motion, abnormal motion, dangerous motion, warning motion, suspicious motion, rain, fire, flood, tsunami, explosion, collision, imminent collision, human body motion, head motion, facial motion, eye motion, mouth motion, tongue motion, neck motion, finger motion, hand motion, arm motion, shoulder motion, body motion, chest motion, abdominal motion, hip motion, leg motion, foot motion, body joint motion, knee motion, elbow motion, upper body motion, lower body motion, skin motion, below-skin motion, subcutaneous tissue motion, blood vessel motion, intravenous motion, organ motion, heart motion, lung motion, stomach motion, intestine motion, bowel motion, eating motion, breathing motion, facial expression, eye expression, mouth expression, talking motion, singing motion, eating motion, gesture, hand gesture, arm gesture, keystroke, typing stroke, user-interface gesture, man-machine interaction, gait, dancing movement, coordinated movement, and/or coordinated body movement.

The heterogeneous IC of the Type 1 device and/or any Type 2 receiver may comprise low-noise amplifier (LNA), power amplifier, transmit-receive switch, media access controller, baseband radio, 2.4 GHz radio, 3.65 GHz radio, 4.9 GHz radio, 5 GHz radio, 5.9 GHz radio, below 6 GHz radio, below 60 GHz radio and/or another radio. The heterogeneous IC may comprise a processor, a memory communicatively coupled with the processor, and a set of instructions stored in the memory to be executed by the processor. The IC and/or any processor may comprise at least one of: general purpose processor, special purpose processor, microprocessor, multi-processor, multi-core processor, parallel processor, CISC processor, RISC processor, microcontroller, central processing unit (CPU), graphical processor unit (GPU), digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA), embedded processor (e.g. ARM), logic circuit, other programmable logic device, discrete logic, and/or a combination. The heterogeneous IC may support broadband network, wireless network, mobile network, mesh network, cellular network, wireless local area network (WLAN), wide area network (WAN), and metropolitan area network (MAN), WLAN standard, WiFi, LTE, LTE-A, LTE-U, 802.11 standard, 802.11a, 802.11b, 802.11g, 802.11n, 802.11ac, 802.11ad, 802.11af, 802.11ah, 802.11ax, 802.11ay, mesh network standard, 802.15 standard, 802.16 standard, cellular network standard, 3G, 3.5G, 4G, beyond 4G, 4.5G, 5G, 6G, 7G, 8G, 9G, UMTS, 3GPP, GSM, EDGE, TDMA, FDMA, CDMA, WCDMA, TD-SCDMA, Bluetooth, Bluetooth Low-Energy (BLE), NFC, Zigbee, WiMax, and/or another wireless network protocol.

The processor may comprise general purpose processor, special purpose processor, microprocessor, microcontroller, embedded processor, digital signal processor, central processing unit (CPU), graphical processing unit (GPU), multi-processor, multi-core processor, and/or processor with graphics capability, and/or a combination. The memory may be volatile, non-volatile, random access memory (RAM), Read Only Memory (ROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), hard disk, flash memory, CD-ROM, DVD-ROM, magnetic storage, optical storage, organic storage, storage system, storage network, network storage, cloud storage, edge storage, local storage, external storage, internal storage, or other form of non-transitory storage medium known in the art. The set of instructions (machine executable code) corresponding to the method steps may be embodied directly in hardware, in software, in firmware, or in combinations thereof. The set of instructions may be embedded, pre-loaded, loaded upon boot up, loaded on the fly, loaded on demand, pre-installed, installed, and/or downloaded.

The presentation may be a presentation in an audio-visual way (e.g. using combination of visual, graphics, text, symbols, color, shades, video, animation, sound, speech, audio, etc.), graphical way (e.g. using GUI, animation, video), textual way (e.g. webpage with text, message, animated text), symbolic way (e.g. emoticon, signs, hand gesture), or mechanical way (e.g. vibration, actuator movement, haptics, etc.).

Basic Computation

Computational workload associated with the method is shared among the processor, the Type 1 heterogeneous wireless device, the Type 2 heterogeneous wireless device, a local server (e.g. hub device), a cloud server, and another processor.

An operation, pre-processing, processing and/or postprocessing may be applied to data (e.g. TSCI, autocorrelation, features of TSCI). An operation may be preprocessing, processing and/or postprocessing. The preprocessing, processing and/or postprocessing may be an operation. An operation may comprise preprocessing, processing, post-processing, scaling, computing a confidence factor, computing a line-of-sight (LOS) quantity, computing a non-LOS (NLOS) quantity, a quantity comprising LOS and NLOS, computing a single link (e.g. path, communication path, link between a transmitting antenna and a receiving antenna) quantity, computing a quantity comprising multiple links, computing a function of the operands, filtering, linear filtering, nonlinear filtering, folding, grouping, energy computation, lowpass filtering, bandpass filtering, highpass filtering, median filtering, rank filtering, quartile filtering, percentile filtering, mode filtering, finite impulse response (FIR) filtering, infinite impulse response (IIR) filtering, moving average (MA) filtering, autoregressive (AR) filtering, autoregressive moving averaging (ARMA) filtering, selective filtering, adaptive filtering, interpolation, decimation, subsampling, upsampling, resampling, time correction, time base correction, phase correction, magnitude correction, phase cleaning, magnitude cleaning, matched filtering, enhancement, restoration, denoising, smoothing, signal conditioning, enhancement, restoration, spectral analysis, linear transform, nonlinear transform, inverse transform, frequency transform, inverse frequency transform, Fourier transform (FT), discrete time FT (DTFT), discrete FT (DFT), fast FT (FFT), wavelet transform, Laplace transform, Hilbert transform, Hadamard transform, trigonometric transform, sine transform, cosine transform, DCT, power-of-2 transform, sparse transform, graph-based transform, graph signal processing, fast transform, a transform combined with zero padding, cyclic padding, padding, zero padding, feature extraction, decomposition, projection, orthogonal projection, non-orthogonal projection, over-complete projection, eigen-decomposition, singular value decomposition (SVD), principle component analysis (PCA), independent component analysis (ICA), grouping, sorting, thresholding, soft thresholding, hard thresholding, clipping, soft clipping, first derivative, second order derivative, high order derivative, convolution, multiplication, division, addition, subtraction, integration, maximization, minimization, least mean square error, recursive least square, constrained least square, batch least square, least absolute error, least mean square deviation, least absolute deviation, local maximization, local minimization, optimization of a cost function, neural network, recognition, labeling, training, clustering, machine learning, supervised learning, unsupervised learning, semi-supervised learning, comparison with another TSCI, similarity score computation, quantization, vector quantization, matching pursuit, compression, encryption, coding, storing, transmitting, normalization, temporal normalization, frequency domain normalization, classification, clustering, labeling, tagging, learning, detection, estimation, learning network, mapping, remapping, expansion, storing, retrieving, transmitting, receiving, representing, merging, combining, splitting, tracking, monitoring, matched filtering, Kalman filtering, particle filter, intrapolation, extrapolation, histogram estimation, importance sampling, Monte Carlo sampling, compressive sensing, representing, merging, combining, splitting, scrambling, error protection, forward error correction, doing nothing, time varying processing, conditioning averaging, weighted averaging, arithmetic mean, geometric mean, harmonic mean, averaging over selected frequency, averaging over antenna links, logical operation, permutation, combination, sorting, AND, OR, XOR, union, intersection, vector addition, vector subtraction, vector multiplication, vector division, inverse, norm, distance, and/or another operation. The operation may be the preprocessing, processing, and/or post-processing. Operations may be applied jointly on multiple time series or functions.

The function (e.g. function of operands) may comprise: scalar function, vector function, discrete function, continuous function, polynomial function, characteristics, feature, magnitude, phase, exponential function, logarithmic function, trigonometric function, transcendental function, logical function, linear function, algebraic function, nonlinear function, piecewise linear function, real function, complex function, vector-valued function, inverse function, derivative of function, integration of function, circular function, function of another function, one-to-one function, one-to-many function, many-to-one function, many-to-many function, zero crossing, absolute function, indicator function, mean, mode, median, range, statistics, histogram, variance, standard deviation, measure of variation, spread, dispersion, deviation, divergence, range, interquartile range, total variation, absolute deviation, total deviation, arithmetic mean, geometric mean, harmonic mean, trimmed mean, percentile, square, cube, root, power, sine, cosine, tangent, cotangent, secant, cosecant, elliptical function, parabolic function, hyperbolic function, game function, zeta function, absolute value, thresholding, limiting function, floor function, rounding function, sign function, quantization, piecewise constant function, composite function, function of function, time function processed with an operation (e.g. filtering), probabilistic function, stochastic function, random function, ergodic function, stationary function, deterministic function, periodic function, repeated function, transformation, frequency transform, inverse frequency transform, discrete time transform, Laplace transform, Hilbert transform, sine transform, cosine transform, triangular transform, wavelet transform, integer transform, power-of-2 transform, sparse transform, projection, decomposition, principle component analysis (PCA), independent component analysis (ICA), neural network, feature extraction, moving function, function of moving window of neighboring items of time series, filtering function, convolution, mean function, histogram, variance/standard deviation function, statistical function, short-time transform, discrete transform, discrete Fourier transform, discrete cosine transform, discrete sine transform, Hadamard transform, eigen-decomposition, eigenvalue, singular value decomposition (SVD), singular value, orthogonal decomposition, matching pursuit, sparse transform, sparse approximation, any decomposition, graph-based processing, graph-based transform, graph signal processing, classification, identifying a class/group/category, labeling, learning, machine learning, detection, estimation, feature extraction, learning network, feature extraction, denoising, signal enhancement, coding, encryption, mapping, remapping, vector quantization, lowpass filtering, highpass filtering, bandpass filtering, matched filtering, Kalman filtering, preprocessing, postprocessing, particle filter, FIR filtering, IIR filtering, autoregressive (AR) filtering, adaptive filtering, first order derivative, high order derivative, integration, zero crossing, smoothing, median filtering, mode filtering, sampling, random sampling, resampling function, downsampling, down-converting, upsampling, up-converting, interpolation, extrapolation, importance sampling, Monte Carlo sampling, compressive sensing, statistics, short term statistics, long term statistics, autocorrelation function, cross correlation, moment generating function, time averaging, weighted averaging, special function, Bessel function, error function, complementary error function, Beta function, Gamma function, integral function, Gaussian function, Poisson function, etc.

Machine learning, training, discriminative training, deep learning, neural network, continuous time processing, distributed computing, distributed storage, acceleration using GPU/DSP/coprocessor/multicore/multiprocessing may be applied to a step (or each step) of this disclosure.

A frequency transform may include Fourier transform, Laplace transform, Hadamard transform, Hilbert transform, sine transform, cosine transform, triangular transform, wavelet transform, integer transform, power-of-2 transform, combined zero padding and transform, Fourier transform with zero padding, and/or another transform. Fast versions and/or approximated versions of the transform may be performed. The transform may be performed using floating point, and/or fixed point arithmetic.

An inverse frequency transform may include inverse Fourier transform, inverse Laplace transform, inverse Hadamard transform, inverse Hilbert transform, inverse sine transform, inverse cosine transform, inverse triangular transform, inverse wavelet transform, inverse integer transform, inverse power-of-2 transform, combined zero padding and transform, inverse Fourier transform with zero padding, and/or another transform. Fast versions and/or approximated versions of the transform may be performed. The transform may be performed using floating point, and/or fixed point arithmetic.

A quantity/feature from a TSCI may be computed. The quantity may comprise statistic of at least one of: motion, location, map coordinate, height, speed, acceleration, movement angle, rotation, size, volume, time trend, pattern, one-time pattern, repeating pattern, evolving pattern, time pattern, mutually excluding patterns, related/correlated patterns, cause-and-effect, correlation, short-term/long-term correlation, tendency, inclination, statistics, typical behavior, atypical behavior, time trend, time profile, periodic motion, repeated motion, repetition, tendency, change, abrupt change, gradual change, frequency, transient, breathing, gait, action, event, suspicious event, dangerous event, alarming event, warning, belief, proximity, collision, power, signal, signal power, signal strength, signal intensity, received signal strength indicator (RSSI), signal amplitude, signal phase, signal frequency component, signal frequency band component, channel state information (CSI), map, time, frequency, time-frequency, decomposition, orthogonal decomposition, non-orthogonal decomposition, tracking, breathing, heart beat, statistical parameters, cardiopulmonary statistics/analytics (e.g. output responses), daily activity statistics/analytics, chronic disease statistics/analytics, medical statistics/analytics, an early (or instantaneous or contemporaneous or delayed) indication/suggestion/sign/indicator/verifier/detection/symptom of a disease/condition/situation, biometric, baby, patient, machine, device, temperature, vehicle, parking lot, venue, lift, elevator, spatial, road, fluid flow, home, room, office, house, building, warehouse, storage, system, ventilation, fan, pipe, duct, people, human, car, boat, truck, airplane, drone, downtown, crowd, impulsive event, cyclo-stationary, environment, vibration, material, surface, 3-dimensional, 2-dimensional, local, global, presence, and/or another measurable quantity/variable.

Sliding Window/Algorithm

Sliding time window may have time varying window width. It may be smaller at the beginning to enable fast acquisition and may increase over time to a steady-state size. The steady-state size may be related to the frequency, repeated motion, transient motion, and/or STI to be monitored. Even in steady state, the window size may be adaptively (and/or dynamically) changed (e.g. adjusted, varied, modified) based on battery life, power consumption, available computing power, change in amount of targets, the nature of motion to be monitored, etc.

The time shift between two sliding time windows at adjacent time instance may be constant/variable/locally adaptive/dynamically adjusted over time. When shorter time shift is used, the update of any monitoring may be more frequent which may be used for fast changing situations, object motions, and/or objects. Longer time shift may be used for slower situations, object motions, and/or objects.

The window width/size and/or time shift may be changed (e.g. adjusted, varied, modified) upon a user request/choice. The time shift may be changed automatically (e.g. as controlled by processor/computer/server/hub device/cloud server) and/or adaptively (and/or dynamically).

At least one characteristics (e.g. characteristic value, or characteristic point) of a function (e.g. auto-correlation function, auto-covariance function, cross-correlation function, cross-covariance function, power spectral density, time function, frequency domain function, frequency transform) may be determined (e.g. by an object tracking server, the processor, the Type 1 heterogeneous device, the Type 2 heterogeneous device, and/or another device). The at least one characteristics of the function may include: a maximum, minimum, extremum, local maximum, local minimum, local extremum, local extremum with positive time offset, first local extremum with positive time offset, n{circumflex over ( )}th local extremum with positive time offset, local extremum with negative time offset, first local extremum with negative time offset, n{circumflex over ( )}th local extremum with negative time offset, constrained maximum, constrained minimum, constrained extremum, significant maximum, significant minimum, significant extremum, slope, derivative, higher order derivative, maximum slope, minimum slope, local maximum slope, local maximum slope with positive time offset, local minimum slope, constrained maximum slope, constrained minimum slope, maximum higher order derivative, minimum higher order derivative, constrained higher order derivative, zero-crossing, zero crossing with positive time offset, n{circumflex over ( )}th zero crossing with positive time offset, zero crossing with negative time offset, n{circumflex over ( )}th zero crossing with negative time offset, constrained zero-crossing, zero-crossing of slope, zero-crossing of higher order derivative, and/or another characteristics. At least one argument of the function associated with the at least one characteristics of the function may be identified. Some quantity (e.g. spatial-temporal information of the object) may be determined based on the at least one argument of the function.

A characteristics (e.g. characteristics of motion of an object in the venue) may comprise at least one of: an instantaneous characteristics, short-term characteristics, repetitive characteristics, recurring characteristics, history, incremental characteristics, changing characteristics, deviational characteristics, phase, magnitude, degree, time characteristics, frequency characteristics, time-frequency characteristics, decomposition characteristics, orthogonal decomposition characteristics, non-orthogonal decomposition characteristics, deterministic characteristics, probabilistic characteristics, stochastic characteristics, autocorrelation function (ACF), mean, variance, standard deviation, measure of variation, spread, dispersion, deviation, divergence, range, interquartile range, total variation, absolute deviation, total deviation, statistics, duration, timing, trend, periodic characteristics, repetition characteristics, long-term characteristics, historical characteristics, average characteristics, current characteristics, past characteristics, future characteristics, predicted characteristics, location, distance, height, speed, direction, velocity, acceleration, change of the acceleration, angle, angular speed, angular velocity, angular acceleration of the object, change of the angular acceleration, orientation of the object, angular of rotation, deformation of the object, shape of the object, change of shape of the object, change of size of the object, change of structure of the object, and/or change of characteristics of the object.

At least one local maximum and at least one local minimum of the function may be identified. At least one local signal-to-noise-ratio-like (SNR-like) parameter may be computed for each pair of adjacent local maximum and local minimum. The SNR-like parameter may be a function (e.g. linear, log, exponential function, monotonic function) of a fraction of a quantity (e.g. power, magnitude) of the local maximum over the same quantity of the local minimum. It may also be the function of a difference between the quantity of the local maximum and the same quantity of the local minimum. Significant local peaks may be identified or selected. Each significant local peak may be a local maximum with SNR-like parameter greater than a threshold T1 and/or a local maximum with amplitude greater than a threshold T2. The at least one local minimum and the at least one local minimum in the frequency domain may be identified/computed using a persistence-based approach.

A set of selected significant local peaks may be selected from the set of identified significant local peaks based on a selection criterion (e.g. a quality criterion, a signal quality condition). The characteristics/STI of the object may be computed based on the set of selected significant local peaks and frequency values associated with the set of selected significant local peaks. In one example, the selection criterion may always correspond to select the strongest peaks in a range. While the strongest peaks may be selected, the unselected peaks may still be significant (rather strong).

Unselected significant peaks may be stored and/or monitored as “reserved” peaks for use in future selection in future sliding time windows. As an example, there may be a particular peak (at a particular frequency) appearing consistently over time. Initially, it may be significant but not selected (as other peaks may be stronger). But in later time, the peak may become stronger and more dominant and may be selected. When it became “selected”, it may be back-traced in time and made “selected” in the earlier time when it was significant but not selected. In such case, the back-traced peak may replace a previously selected peak in an early time. The replaced peak may be the relatively weakest, or a peak that appear in isolation in time (i.e. appearing only briefly in time).

In another example, the selection criterion may not correspond to select the strongest peaks in the range. Instead, it may consider not only the “strength” of the peak, but the “trace” of the peak—peaks that may have happened in the past, especially those peaks that have been identified for a long time.

For example, if a finite state machine (FSM) is used, it may select the peak(s) based on the state of the FSM. Decision thresholds may be computed adaptively (and/or dynamically) based on the state of the FSM.

A similarity score and/or component similarity score may be computed (e.g. by a server (e.g. hub device), the processor, the Type 1 device, the Type 2 device, a local server, a cloud server, and/or another device) based on a pair of temporally adjacent CI of a TSCI. The pair may come from the same sliding window or two different sliding windows. The similarity score may also be based on a pair of, temporally adjacent or not so adjacent, CI from two different TSCI. The similarity score and/or component similar score may be/comprise: time reversal resonating strength (TRRS), correlation, cross-correlation, auto-correlation, correlation indicator, covariance, cross-covariance, auto-covariance, inner product of two vectors, distance score, norm, metric, quality metric, signal quality condition, statistical characteristics, discrimination score, neural network, deep learning network, machine learning, training, discrimination, weighted averaging, preprocessing, denoising, signal conditioning, filtering, time correction, timing compensation, phase offset compensation, transformation, component-wise operation, feature extraction, finite state machine, and/or another score. The characteristics and/or STI may be determined/computed based on the similarity score.

Any threshold may be pre-determined, adaptively (and/or dynamically) determined and/or determined by a finite state machine. The adaptive determination may be based on time, space, location, antenna, path, link, state, battery life, remaining battery life, available power, available computational resources, available network bandwidth, etc.

A threshold to be applied to a test statistics to differentiate two events (or two conditions, or two situations, or two states), A and B, may be determined. Data (e.g. CI, channel state information (CSI), power parameter) may be collected under A and/or under B in a training situation. The test statistics may be computed based on the data. Distributions of the test statistics under A may be compared with distributions of the test statistics under B (reference distribution), and the threshold may be chosen according to some criteria. The criteria may comprise: maximum likelihood (ML), maximum aposterior probability (MAP), discriminative training, minimum Type 1 error for a given Type 2 error, minimum Type 2 error for a given Type 1 error, and/or other criteria (e.g. a quality criterion, signal quality condition). The threshold may be adjusted to achieve different sensitivity to the A, B and/or another event/condition/situation/state. The threshold adjustment may be automatic, semi-automatic and/or manual. The threshold adjustment may be applied once, sometimes, often, periodically, repeatedly, occasionally, sporadically, and/or on demand. The threshold adjustment may be adaptive (and/or dynamically adjusted). The threshold adjustment may depend on the object, object movement/location/direction/action, object characteristics/STI/size/property/trait/habit/behavior, the venue, feature/fixture/furniture/barrier/material/machine/living thing/thing/object/boundary/surface/medium that is in/at/of the venue, map, constraint of the map (or environmental model), the event/state/situation/condition, time, timing, duration, current state, past history, user, and/or a personal preference, etc.

A stopping criterion (or skipping or bypassing or blocking or pausing or passing or rejecting criterion) of an iterative algorithm may be that change of a current parameter (e.g. offset value) in the updating in an iteration is less than a threshold. The threshold may be 0.5, 1, 1.5, 2, or another number. The threshold may be adaptive (and/or dynamically adjusted). It may change as the iteration progresses. For the offset value, the adaptive threshold may be determined based on the task, particular value of the first time, the current time offset value, the regression window, the regression analysis, the regression function, the regression error, the convexity of the regression function, and/or an iteration number.

The local extremum may be determined as the corresponding extremum of the regression function in the regression window. The local extremum may be determined based on a set of time offset values in the regression window and a set of associated regression function values. Each of the set of associated regression function values associated with the set of time offset values may be within a range from the corresponding extremum of the regression function in the regression window.

The searching for a local extremum may comprise robust search, minimization, maximization, optimization, statistical optimization, dual optimization, constraint optimization, convex optimization, global optimization, local optimization an energy minimization, linear regression, quadratic regression, higher order regression, linear programming, nonlinear programming, stochastic programming, combinatorial optimization, constraint programming, constraint satisfaction, calculus of variations, optimal control, dynamic programming, mathematical programming, multi-objective optimization, multi-modal optimization, disjunctive programming, space mapping, infinite-dimensional optimization, heuristics, metaheuristics, convex programming, semidefinite programming, conic programming, cone programming, integer programming, quadratic programming, fractional programming, numerical analysis, simplex algorithm, iterative method, gradient descent, subgradient method, coordinate descent, conjugate gradient method, Newton's algorithm, sequential quadratic programming, interior point method, ellipsoid method, reduced gradient method, quasi-Newton method, simultaneous perturbation stochastic approximation, interpolation method, pattern search method, line search, non-differentiable optimization, genetic algorithm, evolutionary algorithm, dynamic relaxation, hill climbing, particle swarm optimization, gravitation search algorithm, simulated annealing, memetic algorithm, differential evolution, dynamic relaxation, stochastic tunneling, Tabu search, reactive search optimization, curve fitting, least square, simulation based optimization, variational calculus, and/or variant. The search for local extremum may be associated with an objective function, loss function, cost function, utility function, fitness function, energy function, and/or an energy function.

Regression may be performed using regression function to fit sampled data (e.g. CI, feature of CI, component of CI) or another function (e.g. autocorrelation function) in a regression window. In at least one iteration, a length of the regression window and/or a location of the regression window may change. The regression function may be linear function, quadratic function, cubic function, polynomial function, and/or another function.

The regression analysis may minimize at least one of: error, aggregate error, component error, error in projection domain, error in selected axes, error in selected orthogonal axes, absolute error, square error, absolute deviation, square deviation, higher order error (e.g. third order, fourth order), robust error (e.g. square error for smaller error magnitude and absolute error for larger error magnitude, or first kind of error for smaller error magnitude and second kind of error for larger error magnitude), another error, weighted sum (or weighted mean) of absolute/square error (e.g. for wireless transmitter with multiple antennas and wireless receiver with multiple antennas, each pair of transmitter antenna and receiver antenna form a link), mean absolute error, mean square error, mean absolute deviation, and/or mean square deviation. Error associated with different links may have different weights. One possibility is that some links and/or some components with larger noise or lower signal quality metric may have smaller or bigger weight), weighted sum of square error, weighted sum of higher order error, weighted sum of robust error, weighted sum of the another error, absolute cost, square cost, higher order cost, robust cost, another cost, weighted sum of absolute cost, weighted sum of square cost, weighted sum of higher order cost, weighted sum of robust cost, and/or weighted sum of another cost.

The regression error determined may be an absolute error, square error, higher order error, robust error, yet another error, weighted sum of absolute error, weighted sum of square error, weighted sum of higher order error, weighted sum of robust error, and/or weighted sum of the yet another error.

The time offset associated with maximum regression error (or minimum regression error) of the regression function with respect to the particular function in the regression window may become the updated current time offset in the iteration.

A local extremum may be searched based on a quantity comprising a difference of two different errors (e.g. a difference between absolute error and square error). Each of the two different errors may comprise an absolute error, square error, higher order error, robust error, another error, weighted sum of absolute error, weighted sum of square error, weighted sum of higher order error, weighted sum of robust error, and/or weighted sum of the another error.

The quantity may be compared with a reference data or a reference distribution, such as an F-distribution, central F-distribution, another statistical distribution, threshold, threshold associated with probability/histogram, threshold associated with probability/histogram of finding false peak, threshold associated with the F-distribution, threshold associated the central F-distribution, and/or threshold associated with the another statistical distribution.

The regression window may be determined based on at least one of: the movement (e.g. change in position/location) of the object, quantity associated with the object, the at least one characteristics and/or STI of the object associated with the movement of the object, estimated location of the local extremum, noise characteristics, estimated noise characteristics, signal quality metric, F-distribution, central F-distribution, another statistical distribution, threshold, preset threshold, threshold associated with probability/histogram, threshold associated with desired probability, threshold associated with probability of finding false peak, threshold associated with the F-distribution, threshold associated the central F-distribution, threshold associated with the another statistical distribution, condition that quantity at the window center is largest within the regression window, condition that the quantity at the window center is largest within the regression window, condition that there is only one of the local extremum of the particular function for the particular value of the first time in the regression window, another regression window, and/or another condition.

The width of the regression window may be determined based on the particular local extremum to be searched. The local extremum may comprise first local maximum, second local maximum, higher order local maximum, first local maximum with positive time offset value, second local maximum with positive time offset value, higher local maximum with positive time offset value, first local maximum with negative time offset value, second local maximum with negative time offset value, higher local maximum with negative time offset value, first local minimum, second local minimum, higher local minimum, first local minimum with positive time offset value, second local minimum with positive time offset value, higher local minimum with positive time offset value, first local minimum with negative time offset value, second local minimum with negative time offset value, higher local minimum with negative time offset value, first local extremum, second local extremum, higher local extremum, first local extremum with positive time offset value, second local extremum with positive time offset value, higher local extremum with positive time offset value, first local extremum with negative time offset value, second local extremum with negative time offset value, and/or higher local extremum with negative time offset value.

A current parameter (e.g. time offset value) may be initialized based on a target value, target profile, trend, past trend, current trend, target speed, speed profile, target speed profile, past speed trend, the motion or movement (e.g. change in position/location) of the object, at least one characteristics and/or STI of the object associated with the movement of object, positional quantity of the object, initial speed of the object associated with the movement of the object, predefined value, initial width of the regression window, time duration, value based on carrier frequency of the signal, value based on subcarrier frequency of the signal, bandwidth of the signal, amount of antennas associated with the channel, noise characteristics, signal h metric, and/or an adaptive (and/or dynamically adjusted) value. The current time offset may be at the center, on the left side, on the right side, and/or at another fixed relative location, of the regression window.

In the presentation, information may be displayed with a map (or environmental model) of the venue. The information may comprise: location, zone, region, area, coverage area, corrected location, approximate location, location with respect to (w.r.t.) a map of the venue, location w.r.t. a segmentation of the venue, direction, path, path w.r.t. the map and/or the segmentation, trace (e.g. location within a time window such as the past 5 seconds, or past 10 seconds; the time window duration may be adjusted adaptively (and/or dynamically); the time window duration may be adaptively (and/or dynamically) adjusted w.r.t. speed, acceleration, etc.), history of a path, approximate regions/zones along a path, history/summary of past locations, history of past locations of interest, frequently-visited areas, customer traffic, crowd distribution, crowd behavior, crowd control information, speed, acceleration, motion statistics, breathing rate, heart rate, presence/absence of motion, presence/absence of people or pets or object, presence/absence of vital sign, gesture, gesture control (control of devices using gesture), location-based gesture control, information of a location-based operation, identity (ID) or identifier of the respect object (e.g. pet, person, self-guided machine/device, vehicle, drone, car, boat, bicycle, self-guided vehicle, machine with fan, air-conditioner, TV, machine with movable part), identification of a user (e.g. person), information of the user, location/speed/acceleration/direction/motion/gesture/gesture control/motion trace of the user, ID or identifier of the user, activity of the user, state of the user, sleeping/resting characteristics of the user, emotional state of the user, vital sign of the user, environment information of the venue, weather information of the venue, earthquake, explosion, storm, rain, fire, temperature, collision, impact, vibration, event, door-open event, door-close event, window-open event, window-close event, fall-down event, burning event, freezing event, water-related event, wind-related event, air-movement event, accident event, pseudo-periodic event (e.g. running on treadmill, jumping up and down, skipping rope, somersault, etc.), repeated event, crowd event, vehicle event, gesture of the user (e.g. hand gesture, arm gesture, foot gesture, leg gesture, body gesture, head gesture, face gesture, mouth gesture, eye gesture, etc.).

The location may be 2-dimensional (e.g. with 2D coordinates), 3-dimensional (e.g. with 3D coordinates). The location may be relative (e.g. w.r.t. a map or environmental model) or relational (e.g. halfway between point A and point B, around a corner, up the stairs, on top of table, at the ceiling, on the floor, on a sofa, close to point A, a distance R from point A, within a radius of R from point A, etc.). The location may be expressed in rectangular coordinate, polar coordinate, and/or another representation.

The information (e.g. location) may be marked with at least one symbol. The symbol may be time varying. The symbol may be flashing and/or pulsating with or without changing color/intensity. The size may change over time. The orientation of the symbol may change over time. The symbol may be a number that reflects an instantaneous quantity (e.g. vital sign/breathing rate/heart rate/gesture/state/status/action/motion of a user, temperature, network traffic, network connectivity, status of a device/machine, remaining power of a device, status of the device, etc.). The rate of change, the size, the orientation, the color, the intensity and/or the symbol may reflect the respective motion. The information may be presented visually and/or described verbally (e.g. using pre-recorded voice, or voice synthesis). The information may be described in text. The information may also be presented in a mechanical way (e.g. an animated gadget, a movement of a movable part).

The user-interface (UI) device may be a smart phone (e.g. iPhone, Android phone), tablet (e.g. iPad), laptop (e.g. notebook computer), personal computer (PC), device with graphical user interface (GUI), smart speaker, device with voice/audio/speaker capability, virtual reality (VR) device, augmented reality (AR) device, smart car, display in the car, voice assistant, voice assistant in a car, etc.

The map (or environmental model) may be 2-dimensional, 3-dimensional and/or higher-dimensional. (e.g. a time varying 2D/3D map/environmental model) Walls, windows, doors, entrances, exits, forbidden areas may be marked on the map or the model. The map may comprise floor plan of a facility. The map or model may have one or more layers (overlays). The map/model may be a maintenance map/model comprising water pipes, gas pipes, wiring, cabling, air ducts, crawl-space, ceiling layout, and/or underground layout. The venue may be segmented/subdivided/zoned/grouped into multiple zones/regions/geographic regions/sectors/sections/territories/districts/precincts/localities/neighborhoods/areas/stretches/expanse such as bedroom, living room, storage room, walkway, kitchen, dining room, foyer, garage, first floor, second floor, rest room, offices, conference room, reception area, various office areas, various warehouse regions, various facility areas, etc. The segments/regions/areas may be presented in a map/model. Different regions may be color-coded. Different regions may be presented with a characteristic (e.g. color, brightness, color intensity, texture, animation, flashing, flashing rate, etc.). Logical segmentation of the venue may be done using the at least one heterogeneous Type 2 device, or a server (e.g. hub device), or a cloud server, etc.

Here is an example of the disclosed system, apparatus, and method. Stephen and his family want to install the disclosed wireless motion detection system to detect motion in their 2000 sqft two-storey town house in Seattle, Wash. Because his house has two storeys, Stephen decided to use one Type 2 device (named A) and two Type 1 devices (named B and C) in the ground floor. His ground floor has predominantly three rooms: kitchen, dining room and living room arranged in a straight line, with the dining room in the middle. The kitchen and the living rooms are on opposite end of the house. He put the Type 2 device (A) in the dining room, and put one Type 1 device (B) in the kitchen and the other Type 1 device (C) in the living room. With this placement of the devices, he is practically partitioning the ground floor into 3 zones (dining room, living room and kitchen) using the motion detection system. When motion is detected by the AB pair and the AC pair, the system would analyze the motion information and associate the motion with one of the 3 zones.

When Stephen and his family go out on weekends (e.g. to go for a camp during a long weekend), Stephen would use a mobile phone app (e.g. Android phone app or iPhone app) to turn on the motion detection system. When the system detects motion, a warning signal is sent to Stephen (e.g. an SMS text message, an email, a push message to the mobile phone app, etc.). If Stephen pays a monthly fee (e.g. $10/month), a service company (e.g. security company) will receive the warning signal through wired network (e.g. broadband) or wireless network (e.g. home WiFi, LTE, 3G, 2.5G, etc.) and perform a security procedure for Stephen (e.g. call him to verify any problem, send someone to check on the house, contact the police on behalf of Stephen, etc.). Stephen loves his aging mother and cares about her well-being when she is alone in the house. When the mother is alone in the house while the rest of the family is out (e.g. go to work, or shopping, or go on vacation), Stephen would turn on the motion detection system using his mobile app to ensure the mother is ok. He then uses the mobile app to monitor his mother's movement in the house. When Stephen uses the mobile app to see that the mother is moving around the house among the 3 regions, according to her daily routine, Stephen knows that his mother is doing ok. Stephen is thankful that the motion detection system can help him monitor his mother's well-being while he is away from the house.

On a typical day, the mother would wake up at around 7 AM. She would cook her breakfast in the kitchen for about 20 minutes. Then she would eat the breakfast in the dining room for about 30 minutes. Then she would do her daily exercise in the living room, before sitting down on the sofa in the living room to watch her favorite TV show. The motion detection system enables Stephen to see the timing of the movement in each of the 3 regions of the house. When the motion agrees with the daily routine, Stephen knows roughly that the mother should be doing fine. But when the motion pattern appears abnormal (e.g. there is no motion until 10 AM, or she stayed in the kitchen for too long, or she remains motionless for too long, etc.), Stephen suspects something is wrong and would call the mother to check on her. Stephen may even get someone (e.g. a family member, a neighbor, a paid personnel, a friend, a social worker, a service provider) to check on his mother.

At some time, Stephen feels like repositioning the Type 2 device. He simply unplugs the device from the original AC power plug and plug it into another AC power plug. He is happy that the wireless motion detection system is plug-and-play and the repositioning does not affect the operation of the system. Upon powering up, it works right away.

Sometime later, Stephen is convinced that our wireless motion detection system can really detect motion with very high accuracy and very low alarm, and he really can use the mobile app to monitor the motion in the ground floor. He decides to install a similar setup (i.e. one Type 2 device and two Type 1 devices) in the second floor to monitor the bedrooms in the second floor. Once again, he finds that the system set up is extremely easy as he simply needs to plug the Type 2 device and the Type 1 devices into the AC power plug in the second floor. No special installation is needed. And he can use the same mobile app to monitor motion in the ground floor and the second floor. Each Type 2 device in the ground floor/second floor can interact with all the Type 1 devices in both the ground floor and the second floor. Stephen is happy to see that, as he doubles his investment in the Type 1 and Type 2 devices, he has more than double the capability of the combined systems.

According to various embodiments, each CI (CI) may comprise at least one of: channel state information (CSI), frequency domain CSI, frequency representation of CSI, frequency domain CSI associated with at least one sub-band, time domain CSI, CSI in domain, channel response, estimated channel response, channel impulse response (CIR), channel frequency response (CFR), channel characteristics, channel filter response, CSI of the wireless multipath channel, information of the wireless multipath channel, timestamp, auxiliary information, data, meta data, user data, account data, access data, security data, session data, status data, supervisory data, household data, identity (ID), identifier, device data, network data, neighborhood data, environment data, real-time data, sensor data, stored data, encrypted data, compressed data, protected data, and/or another CI. In one embodiment, the disclosed system has hardware components (e.g. wireless transmitter/receiver with antenna, analog circuitry, power supply, processor, memory) and corresponding software components. According to various embodiments of the present teaching, the disclosed system includes Bot (referred to as a Type 1 device) and Origin (referred to as a Type 2 device) for vital sign detection and monitoring. Each device comprises a transceiver, a processor and a memory.

The disclosed system can be applied in many cases. In one example, the Type 1 device (transmitter) may be a small WiFi-enabled device resting on the table. It may also be a WiFi-enabled television (TV), set-top box (STB), a smart speaker (e.g. Amazon echo), a smart refrigerator, a smart microwave oven, a mesh network router, a mesh network satellite, a smart phone, a computer, a tablet, a smart plug, etc. In one example, the Type 2 (receiver) may be a WiFi-enabled device resting on the table. It may also be a WiFi-enabled television (TV), set-top box (STB), a smart speaker (e.g. Amazon echo), a smart refrigerator, a smart microwave oven, a mesh network router, a mesh network satellite, a smart phone, a computer, a tablet, a smart plug, etc. The Type 1 device and Type 2 devices may be placed in/near a conference room to count people. The Type 1 device and Type 2 devices may be in a well-being monitoring system for older adults to monitor their daily activities and any sign of symptoms (e.g. dementia, Alzheimer's disease). The Type 1 device and Type 2 device may be used in baby monitors to monitor the vital signs (breathing) of a living baby. The Type 1 device and Type 2 devices may be placed in bedrooms to monitor quality of sleep and any sleep apnea. The Type 1 device and Type 2 devices may be placed in cars to monitor well-being of passengers and driver, detect any sleeping of driver and detect any babies left in a car. The Type 1 device and Type 2 devices may be used in logistics to prevent human trafficking by monitoring any human hidden in trucks and containers. The Type 1 device and Type 2 devices may be deployed by emergency service at disaster area to search for trapped victims in debris. The Type 1 device and Type 2 devices may be deployed in an area to detect breathing of any intruders. There are numerous applications of wireless breathing monitoring without wearables.

Hardware modules may be constructed to contain the Type 1 transceiver and/or the Type 2 transceiver. The hardware modules may be sold to/used by variable brands to design, build and sell final commercial products. Products using the disclosed system and/or method may be home/office security products, sleep monitoring products, WiFi products, mesh products, TV, STB, entertainment system, HiFi, speaker, home appliance, lamps, stoves, oven, microwave oven, table, chair, bed, shelves, tools, utensils, torches, vacuum cleaner, smoke detector, sofa, piano, fan, door, window, door/window handle, locks, smoke detectors, car accessories, computing devices, office devices, air conditioner, heater, pipes, connectors, surveillance camera, access point, computing devices, mobile devices, LTE devices, 3G/4G/5G/6G devices, UMTS devices, 3GPP devices, GSM devices, EDGE devices, TDMA devices, FDMA devices, CDMA devices, WCDMA devices, TD-SCDMA devices, gaming devices, eyeglasses, glass panels, VR goggles, necklace, watch, waist band, belt, wallet, pen, hat, wearables, implantable device, tags, parking tickets, smart phones, etc.

The summary may comprise: analytics, output response, selected time window, subsampling, transform, and/or projection. The presenting may comprise presenting at least one of: monthly/weekly/daily view, simplified/detailed view, cross-sectional view, small/large form-factor view, color-coded view, comparative view, summary view, animation, web view, voice announcement, and another presentation related to the periodic/repetition characteristics of the repeating motion.

A Type 1/Type 2 device may be an antenna, a device with antenna, a device with a housing (e.g. for radio, antenna, data/signal processing unit, wireless IC, circuits), device that has interface to attach/connect to/link antenna, device that is interfaced to/attached to/connected to/linked to another device/system/computer/phone/network/data aggregator, device with a user interface (UI)/graphical UI/display, device with wireless transceiver, device with wireless transmitter, device with wireless receiver, internet-of-thing (IoT) device, device with wireless network, device with both wired networking and wireless networking capability, device with wireless integrated circuit (IC), Wi-Fi device, device with Wi-Fi chip (e.g. 802.11a/b/g/n/ac/ax standard compliant), Wi-Fi access point (AP), Wi-Fi client, Wi-Fi router, Wi-Fi repeater, Wi-Fi hub, Wi-Fi mesh network router/hub/AP, wireless mesh network router, adhoc network device, wireless mesh network device, mobile device (e.g. 2G/2.5G/3G/3.5G/4G/LTE/5G/6G/7G, UMTS, 3GPP, GSM, EDGE, TDMA, FDMA, CDMA, WCDMA, TD-SCDMA), cellular device, base station, mobile network base station, mobile network hub, mobile network compatible device, LTE device, device with LTE module, mobile module (e.g. circuit board with mobile-enabling chip (IC) such as Wi-Fi chip, LTE chip, BLE chip), Wi-Fi chip (IC), LTE chip, BLE chip, device with mobile module, smart phone, companion device (e.g. dongle, attachment, plugin) for smart phones, dedicated device, plug-in device, AC-powered device, battery-powered device, device with processor/memory/set of instructions, smart device/gadget/items: clock, stationary, pen, user-interface, paper, mat, camera, television (TV), set-top-box, microphone, speaker, refrigerator, oven, machine, phone, wallet, furniture, door, window, ceiling, floor, wall, table, chair, bed, night-stand, air-conditioner, heater, pipe, duct, cable, carpet, decoration, gadget, USB device, plug, dongle, lamp/light, tile, ornament, bottle, vehicle, car, AGV, drone, robot, laptop, tablet, computer, harddisk, network card, instrument, racket, ball, shoe, wearable, clothing, glasses, hat, necklace, food, pill, small device that moves in the body of creature (e.g. in blood vessels, in lymph fluid, digestive system), and/or another device. The Type 1 device and/or Type 2 device may be communicatively coupled with: the internet, another device with access to internet (e.g. smart phone), cloud server (e.g. hub device), edge server, local server, and/or storage. The Type 1 device and/or the Type 2 device may operate with local control, can be controlled by another device via a wired/wireless connection, can operate automatically, or can be controlled by a central system that is remote (e.g. away from home).

In one embodiment, a Type B device may be a transceiver that may perform as both Origin (a Type 2 device, a Rx device) and Bot (a Type 1 device, a Tx device), i.e., a Type B device may be both Type 1 (Tx) and Type 2 (Rx) devices (e.g. simultaneously or alternately), for example, mesh devices, a mesh router, etc. In one embodiment, a Type A device may be a transceiver that may only function as Bot (a Tx device), i.e., Type 1 device only or Tx only, e.g., simple IoT devices. It may have the capability of Origin (Type 2 device, Rx device), but somehow it is functioning only as Bot in the embodiment. All the Type A and Type B devices form a tree structure. The root may be a Type B device with network (e.g. internet) access. For example, it may be connected to broadband service through a wired connection (e.g. Ethernet, cable modem, ADSL/HDSL modem) connection or a wireless connection (e.g. LTE, 3G/4G/5G, WiFi, Bluetooth, microwave link, satellite link, etc.). In one embodiment, all the Type A devices are leaf node. Each Type B device may be the root node, non-leaf node, or leaf node.

Type 1 device (transmitter, or Tx) and Type 2 device (receiver, or Rx) may be on same device (e.g. RF chip/IC) or simply the same device. The devices may operate at high frequency band, such as 28 GHz, 60 GHz, 77 GHz, etc. The RF chip may have dedicated Tx antennas (e.g. 32 antennas) and dedicated Rx antennas (e.g. another 32 antennas).

One Tx antenna may transmit a wireless signal (e.g. a series of probe signal, perhaps at 100 Hz). Alternatively, all Tx antennas may be used to transmit the wireless signal with beamforming (in Tx), such that the wireless signal is focused in certain direction (e.g. for energy efficiency or boosting the signal to noise ratio in that direction, or low power operation when “scanning” that direction, or low power operation if object is known to be in that direction).

The wireless signal hits an object (e.g. a living human lying on a bed 4 feet away from the Tx/Rx antennas, with breathing and heart beat) in a venue (e.g. a room). The object motion (e.g. lung movement according to breathing rate, or blood-vessel movement according to heart beat) may impact/modulate the wireless signal. All Rx antennas may be used to receive the wireless signal.

Beamforming (in Rx and/or Tx) may be applied (digitally) to “scan” different directions. Many directions can be scanned or monitored simultaneously. With beamforming, “sectors” (e.g. directions, orientations, bearings, zones, regions, segments) may be defined related to the Type 2 device (e.g. relative to center location of antenna array). For each probe signal (e.g. a pulse, an ACK, a control packet, etc.), a channel information or CI (e.g. channel impulse response/CIR, CSI, CFR) is obtained/computed for each sector (e.g. from the RF chip). In breathing detection, one may collect CIR in a sliding window (e.g. 30 sec, and with 100 Hz sounding/probing rate, one may have 3000 CIR over 30 sec).

The CIR may have many taps (e.g. N1 components/taps). Each tap may be associated with a time lag, or a time-of-flight (tof, e.g. time to hit the human 4 feet away and back). When a person is breathing in a certain direction at a certain distance (e.g. 4 ft), one may search for the CIR in the “certain direction”. Then one may search for the tap corresponding to the “certain distance”. Then one may compute the breathing rate and heart rate from that tap of that CIR.

One may consider each tap in the sliding window (e.g. 30 second window of “component time series”) as a time function (e.g. a “tap function”, the “component time series”). One may examine each tap function in search of a strong periodic behavior (e.g. corresponds to breathing, perhaps in the range of 10 bpm to 40 bpm).

The Type 1 device and/or the Type 2 device may have external connections/links and/or internal connections/links. The external connections (e.g. connection 1110) may be associated with 2G/2.5G/3G/3.5G/4G/LTE/5G/6G/7G/NBIoT, UWB, WiMax, Zigbee, 802.16 etc. The internal connections (e.g., 1114A and 1114B, 1116, 1118, 1120) may be associated with WiFi, an IEEE 802.11 standard, 802.11a/b/g/n/ac/ad/af/ag/ah/ai/aj/aq/ax/ay, Bluetooth, Bluetooth 1.0/1.1/1.2/2.0/2.1/3.0/4.0/4.1/4.2/5, BLE, mesh network, an IEEE 802.16/1/1a/1b/2/2a/a/b/c/d/e/f/g/h/i/j/k/l/m/n/o/p/standard.

The Type 1 device and/or Type 2 device may be powered by battery (e.g. AA battery, AAA battery, coin cell battery, button cell battery, miniature battery, bank of batteries, power bank, car battery, hybrid battery, vehicle battery, container battery, non-rechargeable battery, rechargeable battery, NiCd battery, NiMH battery, Lithium ion battery, Zinc carbon battery, Zinc chloride battery, lead acid battery, alkaline battery, battery with wireless charger, smart battery, solar battery, boat battery, plane battery, other battery, temporary energy storage device, capacitor, fly wheel).

Any device may be powered by DC or direct current (e.g. from battery as described above, power generator, power convertor, solar panel, rectifier, DC-DC converter, with various voltages such as 1.2V, 1.5V, 3V, 5V, 6V, 9V, 12V, 24V, 40V, 42V, 48V, 110V, 220V, 380V, etc.) and may thus have a DC connector or a connector with at least one pin for DC power.

Any device may be powered by AC or alternating current (e.g. wall socket in a home, transformer, invertor, shorepower, with various voltages such as 100V, 110V, 120V, 100-127V, 200V, 220V, 230V, 240V, 220-240V, 100-240V, 250V, 380V, 50 Hz, 60 Hz, etc.) and thus may have an AC connector or a connector with at least one pin for AC power. The Type 1 device and/or the Type 2 device may be positioned (e.g. installed, placed, moved to) in the venue or outside the venue.

For example, in a vehicle (e.g. a car, truck, lorry, bus, special vehicle, tractor, digger, excavator, teleporter, bulldozer, crane, forklift, electric trolley, AGV, emergency vehicle, freight, wagon, trailer, container, boat, ferry, ship, submersible, airplane, air-ship, lift, mono-rail, train, tram, rail-vehicle, railcar, etc.), the Type 1 device and/or Type 2 device may be an embedded device embedded in the vehicle, or an add-on device (e.g. aftermarket device) plugged into a port in the vehicle (e.g. OBD port/socket, USB port/socket, accessory port/socket, 12V auxiliary power outlet, and/or 12V cigarette lighter port/socket).

For example, one device (e.g. Type 2 device) may be plugged into 12V cigarette lighter/accessory port or OBD port or the USB port (e.g. of a car/truck/vehicle) while the other device (e.g. Type 1 device) may be plugged into 12V cigarette lighter/accessory port or the OBD port or the USB port. The OBD port and/or USB port can provide power, signaling and/or network (of the car/truck/vehicle). The two devices may jointly monitor the passengers including children/babies in the car. They may be used to count the passengers, recognize the driver, detect presence of passenger in a particular seat/position in the vehicle.

In another example, one device may be plugged into 12V cigarette lighter/accessory port or OBD port or the USB port of a car/truck/vehicle while the other device may be plugged into 12V cigarette lighter/accessory port or OBD port or the USB port of another car/truck/vehicle.

In another example, there may be many devices of the same type A (e.g. Type 1 or Type 2) in many heterogeneous vehicles/portable devices/smart gadgets (e.g. automated guided vehicle/AGV, shopping/luggage/moving cart, parking ticket, golf cart, bicycle, smart phone, tablet, camera, recording device, smart watch, roller skate, shoes, jackets, goggle, hat, eye-wear, wearable, Segway, scooter, luggage tag, cleaning machine, vacuum cleaner, pet tag/collar/wearable/implant), each device either plugged into 12V accessory port/OBD port/USB port of a vehicle or embedded in a vehicle. There may be one or more device of the other type B (e.g. B is Type 1 if A is Type 2, or B is Type 2 if A is Type 1) installed at locations such as gas stations, street lamp post, street corners, tunnels, multi-storey parking facility, scattered locations to cover a big area such as factory/stadium/train station/shopping mall/construction site. The Type A device may be located, tracked or monitored based on the TSCI.

The area/venue may have no local connectivity, e.g., broadband services, WiFi, etc. The Type 1 and/or Type 2 device may be portable. The Type 1 and/or Type 2 device may support plug and play.

Pairwise wireless links may be established between many pairs of devices, forming the tree structure. In each pair (and the associated link), a device (second device) may be a non-leaf (Type B). The other device (first device) may be a leaf (Type A or Type B) or non-leaf (Type B). In the link, the first device functions as a bot (Type 1 device or a Tx device) to send a wireless signal (e.g. probe signal) through the wireless multipath channel to the second device. The second device may function as an Origin (Type 2 device or Rx device) to receive the wireless signal, obtain the TSCI and compute a “linkwise analytics” based on the TSCI.

Monitoring and identifying gait has recently emerged as a promising solution candidate for unobtrusive human recognition. A gait recognition system should satisfy the following conditions in order to enable practical applications: (1) Accurate: the system should be able to recognize users accurately; (2) Fast registration and response: the system should require minimal training effort to register a new user, and recognition should be accomplished with short delays, i.e. a few steps (short period) of walking should be sufficient to achieve accurate and reliable recognition; (3) Environment-independent: the system should be able to operate at different time and days and locations without requiring tailored calibration or recalibration, and should not be affected by changes in lighting, furnishing, or any other environmental factor; (4) Contactless: the system should operate in a contactless manner, without asking the user to carry any device or using any user cooperation; (5) Privacy-preserving: even though the system can identify users, it should not reveal sensitive information about the person and surroundings.

WiFi-based systems provide an attractive solution by exploiting ambient WiFi signals for contactless recognition, but they usually require calibration for each location, as the multipath profile changes. More importantly, many of the existing systems train and test on the data collected at the same time and/or locations, imposing a high risk of performance loss when generalizing to different locations and time in practical deployment.

To achieve the criteria above, the present teaching discloses “GaitCube,” a high-accuracy gait recognition system with minimal training requirement using a single commodity millimeter wave (mmWave) radio. To reduce the training overhead, the system utilizes a gait data cube, which is a novel 3D joint-feature representation of micro-Doppler and micro-Range signatures over time that can comprehensively embody the physical relevant features of a person's gait. With a pipeline of signal processing, GaitCube can automatically detect and segment human walking and effectively extract the gait data cubes. GaitCube has been implemented and evaluated through experiments conducted at 6 different locations in a typical indoor space with 10 subjects over a month, resulting in >50,000 gait instances. In one embodiment, the results show that GaitCube achieves an accuracy of 96.1% with a single gait cycle using one receive antenna; and the accuracy increases to 98.3% when combining all the receive antennas. In one embodiment, GaitCube achieves an average recognition accuracy of 79.1% for testing over different locations and times by using only 2 minutes of data in one location, enabling a practical and ubiquitous gait-based identification. Using a mmWave radar for sensing brings multifold advantages thanks to its shorter wavelength, larger bandwidth, and phased array processing, while still sharing the favorable characteristics of WiFi-based systems (e.g., contactless, privacy-preserving, etc.), promising an ideal solution for feasible and practical gait recognition with minimal infrastructure support (e.g., a single mmWave radio).

In some embodiments, GaitCube uses a single mmWave radar and combines the power of signal processing and deep learning. GaitCube introduces a three-dimensional joint-variable representation of micro-Doppler (μD) and micro-range (μR) signatures over time (T), termed as gait data cube, to comprehensively embody physical relevant features of a person's gait, which is then fed into a neural network for effective learning. With that, GaitCube can register a user with minimal walking data, and can recognize a user with high accuracy from only a couple of steps. Combining the proposed gait data cube with neural networks also allows GaitCube, trained once, to generalize to different locations and time with little performance loss. To deliver a practical system, GaitCube further incorporates modules to detect and track human walking automatically and segment gait cycles effectively.

GaitCube addresses multiple challenges to achieve all these properties in one system. First, even using a mmWave radar, it is non-trivial to extract fine-grained μR and μD signatures efficiently and effectively, accounting for the inadequate range resolution, specular reflection, multipath effects, and computational burden. Second, it is usually difficult to build a learning-based gait recognition system that can operate over different locations at different times, as neural networks can easily over-fit or learn features related to environment, but not human gait, especially when the training dataset is limited.

To combat these challenges, GaitCube detects and tracks human motion with a simple yet effective algorithm, triggers μD-μR spectrogram estimation only at interested distances and times, and extracts gait information from human walking automatically. To assemble the gait data cubes that maximize gait information, the system reshapes μD signatures at all the distances the human body spans, which are then aligned in range domain with respect to human torso, segmented in time domain with respect to walking cycles, and cropped in frequency domain. GaitCube then identifies environment-independent and physically relevant features from the gait data cubes in tandem with a convolutional neural network (CNN). To boost training and generalize the trained networks, the system exploits spatial diversity attributed by multiple receiving antennas, which not only increases the training dataset considerably but also mitigates specular reflection issue by capturing more spatially independent snapshots of human walk.

In one embodiment, GaitCube is implemented using a commercial mmWave radar to conduct experiments in an office space over different locations and times used for training and testing. With 10 volunteers and 11 sessions of data collected, GaitCube performed at six different locations over a month. During each session, the users walk for two minutes in each location to collect a total of two hours of walking data, which results in more than 50000 steps. The results demonstrate that GaitCube achieves an accuracy of 96.10% using a single gait cycle (two steps) with one receiving antenna, and this accuracy further improves to 98% by aggregating all the antennas or combining multiple walking steps. In the extreme case of using a single session (only two minutes of data) for training, GaitCube achieves an average accuracy of 79.1% tested at various locations over different times, promising a practical application of gait recognition with minimal training requirement.

In some embodiments, GaitCube is a human recognition system that learns from gait data cubes, a 3D joint-feature representation of micro-Doppler, micro-range, and time for radar signals, allowing it to achieve remarkable accuracy with a single gait cycle while needing minimal data for training. In some embodiments, GaitCube utilizes novel gait cube processing algorithms to form the gait cubes that can detect and segment human walking automatically and extract the μR-μD-T gait cubes effectively, and a deep learning model for classification. In some embodiments, GaitCube can be implemented on a commercial mmWave radar to validate its performance with 10 people over different environments, locations and time.

In some embodiments, GaitCube inputs raw radar data, and outputs identification results at time instances that correspond to gait cycles. To register a user, the system collects a minimal amount of walking data (e.g., two minutes) from the user. Then one can be recognized by GaitCube when she/he walks normally in front of the radar.

FIG. 1 illustrates a diagram of an exemplary human recognition system 100, e.g. GaitCube, based on gait cube data using millimeter wave (mmWave) radio, according to some embodiments of the present disclosure. As shown in FIG. 1, the human recognition system 100 includes a device with a transmitter (Tx) antenna array 111 and a receiver (Rx) antenna array 112. In some embodiments, each of the transmitter (Tx) and receiver (Rx) arrays has multiple antennas. To recognize a person, the Tx 111 can transmit mmWave signals, which may be received by different Rx antennas 112 sequentially after reflected by a person 101 in a venue and other objects in the same venue.

In some embodiments, the Tx 111 is a Bot as described above; and the Rx 112 is an Origin as described above. While the Tx 111 and the Rx 112 are physically coupled to each other in FIG. 1, they may be separated in different devices in other embodiments. In some embodiments, the device including the Tx 111 and the Rx 112 serves like a radar, and the person 101 may be moving towards or away from the radar.

In some embodiments, the human recognition system 100 also includes a processor to process the received radar signal 110 at the Rx 112. In various embodiments, the processor may be physically coupled to the Tx 111, the Rx 112, both, or neither. As shown in FIG. 1 the processor includes two main modules: gait cube extraction 120 and classification module 130. In some embodiments, the gait cube extraction module 120 receives raw radar signal 110, which may be a millimeter wave (mmWave) wireless signal impacted by the person 101 walking in a venue. The gait cube extraction module 120 can convert the radar signal into raw radar data, e.g. channel information, and extract the gait data cubes 131 based on the raw radar data. The gait cube extraction module 120 first tracks the person's walking trace by three submodules: presence detection, peak tracking, and walking detection. The presence detection module detects a presence of the person based on the channel information, e.g. by calculating a time-range-variance signal or a 3D radar spectrogram. The peak tracking module determines peaks in the time-range-variance signal or the 3D radar spectrogram. The walking detection module detects walking of the person 101 by extracting the trace of the person 101.

Then the gait cube extraction module 120 can extract the spectrogram around the person 101 and therefore constructs the Doppler (or speed) dimension of the gait cubes for cycle extraction. Further, the gait cube extraction module 120 segments the data in time domain, with respect to the extracted gait cycles each with a single step, and removes unstable walking data by gait cycle validation or verification. Consecutive valid steps are aligned together to construct the μR-μD-T gait cubes. In some embodiments, dimensionality reduction is performed on the gait cube data to remove unnecessary and redundant information for gait recognition. The resulted gait cube 131 represents the reshaped μD and μR signatures at different distances from the transmitter and/or the receiver, which are aligned in range domain with respect to human torso, segmented in time domain with respect to walking cycles (steps), and cropped in frequency domain to include maximum signal content.

The output gait cubes 131 are fed into the classification module 130 that outputs the user identity 140. The classification module 130 includes a CNN 132 to extract useful features from the gait cubes, and a fully connected layer that concatenates some other hand-crafted features to augment the output representation. The classification module 130 also includes a classifier to determine the identity 140 based on the outputs of the CNN 132 and the gait cube data generated by the gait cube extraction module 120.

In some embodiments, during a training process, the CNN 132 extracts useful gait features from the output gait cubes 131 related to a known user, associates the extracted gait features with the known user, and stores the associated information as a template into a database. In some embodiments, during a recognition process, the output gait cubes 131 may be directly fed into the classifier 134, which compares the output gait cubes 131 with templates stored by the CNN 132 to classify the person 101 as the identity 140. In some embodiments, when the classifier 134 cannot classify the person 101 to any known identity based on the comparison, the CNN 132 may be further trained to register the person 101 as a new user.

In some embodiments, the system relies on a frequency-modulated continuous wave (FMCW) radar, which transmits a signal with linearly increasing frequency. The distance from an object to the radar is measured by calculating the frequency shift between the transmitted and received signal. This single transmission is called a chirp, and the range resolution is determined by the bandwidth. When there is no multipath, and a single rigid object is placed at a distance R, the received signal is given as:

$\begin{matrix} {{{y(t)} = {A_{rx}{\sin\left( {{2{\pi\left( {{f_{0}\left( {t - \tau} \right)} + {\frac{\beta}{2}\left( {t - \tau} \right)^{2}}} \right)}} + \theta_{rx}} \right)}}},} & (1) \end{matrix}$ for t∈[0, T), where y(t) is the received signal at time t, τ represents the time duration of an electromagnetic wave from object to radar, β is the frequency slope of the linear chirp, θ_(rx) is the phase offset at the receiver, and A_(rx) is the amplitude of the returned signal. A single chirp is sent and received repeatedly, and one can denote the received signal for chirp k as y_(k)(t)≙y(t−kT), for k=└τ/T┘, where T is the chirp duration. For simplicity, one can assume t to be discrete, as the reported signal is sampled and digitized and drop the subscript k. A_(rx) is given as:

$\begin{matrix} {{A_{rx} = \frac{G_{ant}\lambda\sqrt{P\sigma}}{4\pi^{1.5}R^{2}\sqrt{L}}},} & (2) \end{matrix}$ where G_(ant) represents antenna gain, λ is the wavelength, σ is the target cross-radar section, and L represents other losses. This equation is given for rigid objects, under no multipath assumption, and does not necessarily apply to indoor environments. When there is multipath, equation (1) is modified as:

$\begin{matrix} {{{y(t)} = {\sum_{k = 1}^{N}{h_{k}A_{rx}\sin\;\left( {{2\;{\pi\left( {{f_{0}\left( {t - \tau_{k}} \right)} + {\frac{\beta}{2}\left( {t - \tau_{k}} \right)^{2}}} \right)}} + \theta_{rx}} \right)}}},} & (3) \end{matrix}$ where h_(k) denotes the scaling of the returned signal for time instance τ_(k), arising from multipath. As the frequency shift is equivalent to time difference, this information can be converted to range information by Fourier transform of y(t), a.k.a Range-FFT. Time-range signal, a.k.a. Channel Impulse Response (CIR), is sampled at certain time indices, and denoted as: Y(r,k)=Σ_(n=0) ^(N-1) y _(k)(n)exp(−2jπrn/N),  (4) where N is the number of FFT points. Range-Doppler spectrogram is calculated by taking FFT of the time domain signal for a frame over long time. One can define the number of samples per frame as N_(f), the amount of overlap between frames as N_(ov), and long time indices for frame k with n_(k)(i)≙((k−1)(N_(f)−N_(ov))+i) for i∈{1, . . . , N_(f)−1}. Consequently, range-Doppler spectrogram can be defined as G(f,r,k)=|Σ_(i=0) ^(N) ^(f) ⁻¹ W(i)Y(r,n _(k)(i))exp(2jπiTf/N _(f))|²,  (5) where W(i) represents a finite length windowing function that affects the time-frequency resolution. In some embodiments, instead of calculating the spectrogram for all range bins (r), GaitCube can first locate the human body, and only calculate the spectrogram of nearby distances that contain body motions to reduce computational complexity.

GaitCube can track the user's locations, which will be used to construct the range dimension of gait cubes. The received time-range signal can be modeled as: Y(r,n)=Y _(b)(r,n)+Y _(d)(r,n)+ε(r,n),  (6) where Y_(b) represents the background reflection from surrounding objects, Y_(d) stands for the reflection from a moving subject, and ε denotes the additive noise. To track human body, one can extract the variance for each range bin as:

$\begin{matrix} {{{Z_{Y}\left( {r,k} \right)} = {\frac{1}{N_{f}}{\sum_{i = 1}^{N_{f}}\left( {{Y\left( {r,{n_{k}(i)}} \right)} - {\overset{¯}{Y}\left( {r,n_{k}} \right)}} \right)^{2}}}},} & (7) \end{matrix}$ where Z_(Y)(r,k) denotes the variance of Y at range r and time-frame k, and

$\begin{matrix} {{{\overset{¯}{Y}\left( {r,k} \right)}\overset{\Delta}{=}{\frac{1}{N_{f}}{\sum_{i}{Y\left( {r,{n_{k}(i)}} \right)}}}},} & \; \end{matrix}$ denotes the average value of the CIR for frame k. Assuming the noise to be uncorrelated with motion, and assuming the motion and noise to be zero mean, the following relation can be established:

$\begin{matrix} {{{Z_{Y}\left( {r,k} \right)} \approx {{\frac{1}{N_{f}}{\sum_{i = 1}^{N_{f}}{\left( {Y_{d}\left( {r,{n_{k}(i)}} \right)} \right)}^{2}}} + \sigma_{ɛ}^{2}}},} & (8) \end{matrix}$ which suggests that, dominant motion could be detected by maximizing Z_(Y)(r,k) over range dimension.

Experiments show that time-variance plot of Y reduces background noises significantly; and the maximum-variance trace demonstrates that the variances at range bins with the presence of a person are several orders of magnitude higher than the background variance. Extracting this maximum-variance trace, however, does not allow one to immediately detect and track motion, as there are impulse noises, discontinuities and multipath effects in the environment. Thus the system applies several additional steps to person tracking submodule to detect human presence and motion, and extract the walking trace.

In some embodiments, GaitCube detects the presence of a subject by thresholding the amplitude of a smoothed maximum-variance trace. GaitCube smooths maximum-variance trace with a median filter before thresholding. In addition, short presence intervals are filtered out by combining with longer intervals, to reduce false alarms. Even with a stationary person or motion perpendicular to radar axis, presence detection robustly detects a person, due to minute body motions caused by breathing and heart pulses.

For time instances with presence, GaitCube extracts the subject trace in range-time domain. An arbitrary trace on Z_(Y)(r,k) is defined as: p={(p(i),i)}_(i=1) ^(L),  (9) where p(i) denotes the distance (range bin) of the person from the radar at timestep i, and L is the total length of the trace. Note that p(i) only includes the range information, and the system cannot determine exact location of the person. In some embodiments, the person trace requirement has two objectives, extracting high variance bins (dominant motion), while preserving a smooth trace. First, one can define E(p)

Σ_(i=1) ^(L) Z_(Y)(p(i), i) as the total energy of the trace, and C(p)

Σ_(i=1) ^(L-1) P(p(i+1), p(i)) as the cost function for overall smoothness of the trace, where the cost function P controls the change between two consecutive indices of the trace. For example, one can define P as:

$\begin{matrix} {{P\left( {m,n} \right)} = \left( {\begin{matrix} {ɛ\left( {{m - n}} \right)} & {{{m - n}} < T_{th}} \\ {\infty\mspace{14mu}} & {otherwise} \end{matrix},} \right.} & (10) \end{matrix}$ where the maximum amount of deviation is limited by forcing |p(i+1)−p(i)|<T_(th). T_(th) could be selected based on maximum speed of an object, and ε controls the cost for deviation from a direct path. Based on these cost functions, one can define the person trace as: p*=arg max_(p) E(p)+C(p),  (11) which is solved by dynamic programming. p* is the output of the peak tracking module, and used by walking detection module to segment the data with respect to walking time instances. Some of the distant paths are affected by the nearby human body, because of the blockage, yet these are easily avoided by the peak tracking algorithm of the system.

Then GaitCube utilizes a walking detection module to extract time indices with inbound or outbound walking with respect to the radar in order to reduce signal processing overhead. The walking detection algorithm is applied on the speed estimates, to extract stationary and non-stationary periods.

One can estimate the approximate body speed as:

$\begin{matrix} {{v(i)} = \left( {\begin{matrix} {\frac{1}{D}\left( {{p^{*}(i)} - {p^{*}\left( {i - D} \right)}} \right)} & {i > D} \\ 0 & {otherwise} \end{matrix},} \right.} & (12) \end{matrix}$ where D is simply the time offset for calculating the speed, and chosen to be greater than 1 to reduce the variance in the speed estimation. From the speed estimate, GaitCube extracts the walking segments with the following decision rule:

$\begin{matrix} {{m(t)} = \left( {\begin{matrix} {1,} & {{{v(t)}} > v_{walk}} \\ {0,} & {{{{v(t)}} < {v_{stat}\mspace{14mu}{or}\mspace{14mu} t}} = 0} \\ {m\left( {t - 1} \right)} & {otherwise} \end{matrix},} \right.} & (13) \end{matrix}$ where v_(walk) is the speed thresholds for detecting walking, and v_(stat) is the stationary threshold for the magnitude of speed. Note v(t) could be positive or negative since walking inbound and outbound introduces positive and negative Doppler shifts, respectively. This detector allows amplitude of the input signal to swing between (v_(stat), v_(walk)) to preserve previous decisions. As the speed v(i) is defined with respect to the change of distance between the radar and the device, GaitCube can remove most of the walking that does not traverse multiple range bins, by selecting a high amplitude for v_(walk).

In some embodiments, GaitCube extracts the spectrograms at and around the trace of the person by using short time Fourier transform (STFT), as given in equation (5). Since only the range values nearby the human torso are of interest for calculation, one can denote this aligned spectrogram cube as G_(align) which is given by: G _(align)(f,r,n)={G(f,p(n)−N _(body) +r,n)}, 1≤r≤2N _(body)+1,  (14) where N_(body) denotes the number of leading and trailing range bins, centered at the range of human torso. Consequently, G_(align) ∈

^(N) ^(frame) ×

^(2N) ^(body) ⁺¹×

^(N) ^(time) . Spectrogram-range cube reveals Doppler frequency shifts caused by multiple limbs of motion, referred as μ-Doppler phenomenon. Different limbs, such as arms, legs and feet move at different speeds during walk, and the received spectrograms are superposition of all these effects, which are expected to reserve more information than a single snapshot at the human torso.

The relationship between frequency shift and speed is given as:

$\begin{matrix} {{{\Delta f} = \frac{2v}{\lambda}},} & (15) \end{matrix}$ where v, Δf and λ denotes speed of the object, frequency shift, and wavelength, respectively. As noted by earlier research, human motion induces both μD and μR signatures, which could be captured by a high-bandwidth (fine-range-resolution) radar and μD signatures only cannot capture the rich spatial information.

Next, G_(align) is fed to the gait cycle estimation submodule, in order to segment with respect to the walking cycles.

GaitCube can then extract gait cycles from the estimated gait cubes. Energy of spectrogram images (in this case, G_(align)) corresponding to human torso could be used for extracting periods. At the same time, as given in equation (2), the energy of the reflected signal also depends on the range and multipath profile, and one cannot use it directly to estimate gait cycles. In addition, FFT or autocorrelation based methods are not preferable, as they only provide average period of walk.

By using the detrended log-energy of the spectrum, GaitCube can successfully extract individual steps and gait cycles. In order to remove erroneous peaks, a criterion based on minimum distance between peaks is used. Then GaitCube retrieves the peaks with higher amplitudes.

In order to use these gait cubes as representative samples of human gait, GaitCube extracts valid walking steps and gait cycles (i.e., cycles with full walking speed) out of all periods. Unstable walking periods, e.g., initial and final steps of a walking segment, need to be removed. To do so, GaitCube utilizes two criteria.

The first criterion is about walking distance and duration extracted from variance-range plot. This is because acceleration and deceleration steps traverse shorter distance, and can be distinguished by thresholding on distance and duration.

The second criterion is about variations in the torso speed. In some embodiments, after thresholding, GaitCube extracts the median speed of each step and gait cycle, and removes those cycles with a speed variation exceeding 25% of median speed.

The first criterion validates a full gait cycle, and the second one removes acceleration and deceleration cycles, while leaving room for speed differences between left and right steps.

In addition, GaitCube can reduce the dimensions of the gait cube before feeding it into the CNN. For range domain, GaitCube can perform downsampling G_(align) in range dimension. In various embodiments, GaitCube can use various combining methods such as maximum, mean and median, as the signal is correlated between consecutive range bins. In some embodiments, extracting maximum effectively smooths person trace and results in higher SNRs, and can be used in GaitCube.

For frequency domain, GaitCube removes frequency bands with very little speed information. Walking inbound and outbound introduces positive and negative Doppler shifts, respectively; and the other half spectrum (frequency bins) does not have any useful signal content. GaitCube can extract frequencies that correspond to walking speeds of [v_(min), v_(max)].

Further, GaitCube may reduce dimensionality in time domain by resizing the data cube to a fixed size. As each cube has time-series information that relates to the same stages of a gait cycle, resizing preserves the signature.

Within the current processing pipeline, two procedures may cause loss of useful information related to human gait. Extracting aligned gait cubes removes range information, whereas resizing in time domain throws away valuable speed information. In some embodiments, to alleviate their effect, GaitCube extracts several additional features from the gait cubes. Specifically, GaitCube extracts trace length (i.e. stride length) and cycle duration, which are readily available, as well as the mean and the variance of the speed, which can also be calculated easily. These features provide additional information to the classifier, as they are related to the mechanics of human walk.

In some embodiments, GaitCube uses a deep learning model CNN coupled with several convolutional layers, followed with batch normalization and pooling layers with ReLU nonlinearity. CNN is used for feature extraction from gait cubes and its output is combined with the aforementioned additional features by concatenation and fed through a few fully connected layers, followed by a softmax layer to extract output probabilities of each class, whose details can be seen in Table 1. One can further apply dropout to the outputs of the fully connected layers with probability p=0.5, as this reduces overfitting.

TABLE 1 Neural Network Layers Layer Name Filter (Kernel) Output Size Conv. Layer 1 (5, 5), stride: (2, 2) (12, 112, 48) Pooling Layer 1 (2, 2), stride: (2, 2) (12, 56, 24) Conv. Layer 2 (5, 3), stride: (3, 1) (24, 18, 22) Batch Norm. Pooling Layer 2 (2, 2), stride: (2, 2) (48, 9, 11) Conv. Layer 3 (3, 3), stride: (2, 2) (48, 4, 5) Batch Norm. + Flatten (1, 960) Fully Conn. (FC) (1, 120) FC with additional (1, 126) (1, 60) features Softmax (1, 10)

In some embodiments, in order to use CNN model with the outputs of previous module, one can resize gait cubes in the time domain to have a fixed size. The typical human walking speed is around 1 m/s (3.6 km/h), with two steps per second. Therefore, the input size to the CNN may be set to be (5,227,99), with dimensions (range×frequency×time), where n=99 corresponds to 506 ms chosen with respect to the empirical walking speed.

The imbalance between the right and left steps can also provide useful information for identifying people. To exploit this phenomenon, the system can merge two consecutive gait cubes prior to feeding into the CNN. As merging two cubes with respect to the time dimension increases the size of gait cubes, the system can resize these merged gait cubes to the CNN input size again. As GaitCube cannot directly distinguish the left and the right foot, the classifier is trained with both sequences, using overlapping full gait cycles, whereas further evaluation on using single step is also done.

In some embodiments, the system uses cross entropy-loss, combined with L₂ regularization on the weights to train the classification module. The cost function is given as:

$\begin{matrix} {{\mathcal{L} = {{{- \frac{1}{N}}{\sum_{n = 1}^{N}{\sum_{c = 1}^{N_{c}}{z_{n,c}\log{\overset{\hat{}}{z}}_{n,c}}}}} + {\alpha{w}^{2}}}},} & (16) \end{matrix}$ where N_(c) is number of identities (i.e. classes), N is the total number of samples, z_(n,c) is the one-hot encoding for sample n, {circumflex over (z)}_(n,c) are the outputs of the network at softmax layer, α is the regularization parameters, and w are weights of the network. In some embodiments, one can train the network with stochastic gradient descent, with a batch size of 80, and a learning rate of 10⁻² and reduce the learning rate gradually. The maximum number of epochs is set to 50. In some embodiments, one can implement deep learning module of GaitCube, where the training procedure takes less than 15 minutes, whereas testing a single sample takes 0.1 ms on average. In some embodiments, GaitCube is implemented using a commodity off-the-shelf (COTS) mmWave radar. The radar operates at 77 GHz and has 3 transmitter and 4 receiver antennas. One can configure the device to use two transmitter antennas in time-domain multiplexing mode, and capture the received signal on all antennas simultaneously. Placement of the transmitter antennas enables to exploit virtual antenna array concept, and therefore obtain less-dependent measurements of the physical environment, and capture specular reflection from different limbs.

In some embodiments, the implementation of GaitCube exploits receiver diversity by treating each antenna as spatially independent in order to boost dataset size for training and thus reduce data collection effort for each user. In other embodiments, one can also evaluate GaitCube by combining the receiver predictions together via majority voting.

In some embodiments, there are 10 users (4 female, 6 male) for experimentation, where each user walks in six different setups at two to four days, with at least a week in between consecutive data collection. The overall data collection takes more than 1 month, with a total of 11 sessions, as some users were available at different days. Users ages vary from 23 to 59, with weights varying from 50 kg to 77 kg and heights varying from 160 cm to 174 cm. During data collection sessions, users wear arbitrary clothes and accessories, and without being asked for any specific requirement.

In some embodiments, data collection is performed under different experimental setups. In each setup, one can place the radar on a cart, with an approximate height of 1 m. The users can walk 5 times in each way in all setups, where the path length is approximately 10-12 meters. The algorithm of the system segments walking instances and directions automatically. In some embodiments, the total duration of the walk per user per setup is around 2 minutes, depending on walking speed and distance. Some of these data is collected in open space; whereas others are collected in corridors with a width of 1.5 meters.

In some embodiments, the data collection procedure results in a total of about 52000 non-overlapping gait cubes from 10 people, at six setups. The number of samples in each setup vary less than ±3%. The data distribution between walking inbound and outbound are quite uniform, at 51.1% and 48.9%, respectively.

In some embodiments, one can evaluate the performance of GaitCube under different setups. One can implement 6-fold cross validation on the dataset, with separation based on data collection setup to ensure independence among realizations, and show its performance over different time and locations. One can report the testing accuracies with interpreting each receiver's decision independently.

In some embodiments, to evaluate the overall accuracy, one can use a full gait cycle for training and testing and illustrate the confusion matrix for person identification in FIG. 2. As seen, GaitCube achieves a mean accuracy of 96.1%, with accuracy higher than 92.4% and both recall and precision higher than 92.4% for all users.

In some embodiments, one can investigate the effect of the distance from the radar, by extracting accuracy for different range values, and observe a lower accuracy at short and long distances. As the distance from the radar increases, the received signal has a lower SNR which reduces the performance. On the other hand, when the object is very close to the radar, the gait cube gets distorted because of the radiation pattern from a point source, and the performance of the system decreases slightly. As the system treats the receiving antennas independently, and even with an equal gain combining scheme with 8 antennas, the system can obtain an SNR improvement of 9 dB. This scheme can possibly improve the identification accuracy at longer distances significantly.

In some embodiments, as GaitCube resizes gait cubes during preprocessing, one can also evaluate the performance based on the duration of the gait cycle. In some embodiments, most of the gait cycles have a duration in between (0.4, 0.6) s and the performance in these regions are the highest. In some embodiments, the gait-cube extraction sometimes falsely outputs long half gait cycles (up to 1.1 s), which is tolerated by the classification module to some extent. Longer gait cubes decrease overall performance of GaitCube; yet the number of those samples are at least an order of magnitude lower, and do not contribute to the overall error significantly.

In some embodiments, one can train the algorithm on both walking directions. In some embodiments, the system does not favor one particular direction, and inbound and outbound accuracies are within 1% difference. In some embodiments, one can also try training on one direction and testing on another, but may not obtain meaningful results, even with reflecting gait cubes with respect to frequency and range. This is because changing walking direction affects reflection surface and range-Doppler signature is distorted significantly. Thus, in practice, in order to recognize a user regardless one is coming or leaving, one need to train on both directions.

In some embodiments, one can also evaluate the performance with a varying number of steps involved in one sample. To that end, one can train the system with half cycles (single step) and combine the scores of consecutive samples to construct a decision rule. One can average softmax scores (e.g. probabilities) over several steps and extract the decision based on the combined score. In some embodiments, GaitCube achieves an accuracy of 98.3% with three steps, which slightly decreases to 97.3% using a single cycle of two steps, yet still maintains as high as 94.5% even using a single step. The remarkable performance allows GaitCube to recognize a user with minimal delay, e.g., one single step.

In some embodiments, to further investigate low training data requirement, one can vary the number of instances per each setup from 1 to 5 for training and show the accuracy in the testing setup. In some embodiments, even with using only one single round-trip walk at each environment for training (≈20 s), GaitCube achieves a minimum accuracy of 84.8%, and a mean accuracy of 89.6%. In this evaluation, one may not test the model against the remaining data in the setup trained, as this would artificially improve the accuracy.

In some embodiments, one can also conduct a basic ablation study to investigate the improvement stemming from additional features and/or 3D data cubes. In some embodiments, one can investigate using the proposed gait cube, using front or behind slices only, or having single center slice of the cube. One can also compare the performance with and without the additional hand-crafted features. In some embodiments, using full gait cubes plus additional features provides a better performance than the other methods. This is caused by the multipath effect, as the trailing range bins are affected more than leading ranges, whereas capturing all of the information seems more useful. Nevertheless, even using a single slice, an accuracy of over 90% can be achieved thanks to the many building blocks of GaitCube. On the other hand, although the hand-crafted features provide an accuracy gain of 0.6%, GaitCube actually learns the gait signatures well, as the performance gain is marginal, and high accuracy is preserved even with long duration cycles.

In practice, the system only needs to make a single decision at a time, allowing to fuse all the receiving antennas for a better performance. In some embodiments, using a single step, with a simple majority voting scheme, the system can combine softmax scores of each receiving antenna for an overall output. In some embodiments, the performance increases by 1.3% on average, and by 3.1% in some setup.

In some embodiments, one can train GaitCube with just two minutes of walking data at one location and generalize it over time and locations. This use case is particularly challenging, as it neither allows multiple locations nor different time instances for training data. In some embodiments, one can investigate the performance with respect to the number of setups used for training, to provide the mean accuracy obtained by training at varying number of locations, as well as the error bars representing the deviation from the mean value for different testing setups. In some embodiments, the system achieves 79.1% mean accuracy with one-shot learning, and using two setups further boosts the accuracy to 87.2%. In these two cases, the minimum accuracy is 72.5% and 82.7%, which could be acceptable for a practical application. As such, GaitCube can learn generalized gait signatures by less than 2 minutes of data at one location.

The system supports a single person tracking and identification at a time. This would be useful for many applications that usually authorize a single person at a time, e.g., an entrance system, or an IoT customization scheme. If multiple users are present at different distances from the radar, a simple extension of looking at different ranges separately would enable multi-user support for GaitCube.

In some embodiments, the system requires a user to walk towards or away from the device to ensure successful construction of the gait cube. Although this somewhat imposes some limitations, GaitCube can recognize a user with good accuracy even with only one step. Therefore, GaitCube is a practical system even with this limitation. In some embodiments, one can relax the constraints by relying on point clouds and collecting data with different walking directions or with multiple devices.

Therefore, the disclosed GaitCube is a practical gait recognition system. In some embodiments, it requires minimal data for training (e.g., less than two minutes of data) and testing (e.g., a single gait cycle) while maintaining high performance over different locations and times. In some embodiments, GaitCube learns from a distinct gait cube processing with a neural network. Experiment with 10 users at different locations and time show that GaitCube achieves an accuracy of 96.1% with a single walking cycle and further improves to 98.8% with two cycles, and the accuracy maintains 79.10% even with on only two minutes of training data at a single location, promising it a practical solution for real applications. Different from previous works, GaitCube shows its high performance generalized to different locations and time, and more importantly, can register and recognize a user rapidly with minimal data required, rendering it a more practical gait recognition system.

FIG. 3 illustrates an exemplary block diagram of a first wireless device, e.g. a Bot 300, of a human recognition system, according to some embodiments of the present disclosure. The Bot 300 is an example of a device that can be configured to implement the various methods described herein. As shown in FIG. 3, the Bot 300 includes a housing 340 containing a processor 302, a memory 304, a transceiver 310 comprising a transmitter 312 and receiver 314, a synchronization controller 306, a power module 308, an optional carrier configurator 320 and a wireless signal generator 322.

In this embodiment, the processor 302 controls the general operation of the Bot 300 and can include one or more processing circuits or modules such as a central processing unit (CPU) and/or any combination of general-purpose microprocessors, microcontrollers, digital signal processors (DSPs), field programmable gate array (FPGAs), programmable logic devices (PLDs), controllers, state machines, gated logic, discrete hardware components, dedicated hardware finite state machines, or any other suitable circuits, devices and/or structures that can perform calculations or other manipulations of data.

The memory 304, which can include both read-only memory (ROM) and random access memory (RAM), can provide instructions and data to the processor 302. A portion of the memory 304 can also include non-volatile random access memory (NVRAM). The processor 302 typically performs logical and arithmetic operations based on program instructions stored within the memory 304. The instructions (a.k.a., software) stored in the memory 304 can be executed by the processor 302 to perform the methods described herein. The processor 302 and the memory 304 together form a processing system that stores and executes software. As used herein, “software” means any type of instructions, whether referred to as software, firmware, middleware, microcode, etc. which can configure a machine or device to perform one or more desired functions or processes. Instructions can include code (e.g., in source code format, binary code format, executable code format, or any other suitable format of code). The instructions, when executed by the one or more processors, cause the processing system to perform the various functions described herein.

The transceiver 310, which includes the transmitter 312 and receiver 314, allows the Bot 300 to transmit and receive data to and from a remote device (e.g., an Origin or another Bot). An antenna 350 is typically attached to the housing 340 and electrically coupled to the transceiver 310. In various embodiments, the Bot 300 includes (not shown) multiple transmitters, multiple receivers, and multiple transceivers. In one embodiment, the antenna 350 is replaced with a multi-antenna array 350 that can form a plurality of beams each of which points in a distinct direction. The transmitter 312 can be configured to wirelessly transmit signals having different types or functions, such signals being generated by the processor 302. Similarly, the receiver 314 is configured to receive wireless signals having different types or functions, and the processor 302 is configured to process signals of a plurality of different types.

The Bot 300 in this example may serve as Bot 111 in FIG. 1 for recognizing a person in a venue. For example, the wireless signal generator 322 may generate and transmit, via the transmitter 312, a wireless signal through a wireless channel in the venue. The wireless signal carries information of the channel. Because the wireless signal is reflected by a person moving in the venue, the channel information includes information, e.g. gait feature information, of the moving person. As such, the gait feature can be detected based on the wireless signal. The generation of the wireless signal at the wireless signal generator 322 may be based on a request for human recognition from another device, e.g. an Origin, or based on a system pre-configuration. That is, the Bot 300 may or may not know that the wireless signal transmitted will be used for wireless human recognition.

The synchronization controller 306 in this example may be configured to control the operations of the Bot 300 to be synchronized or un-synchronized with another device, e.g. an Origin or another Bot. In one embodiment, the synchronization controller 306 may control the Bot 300 to be synchronized with an Origin that receives the wireless signal transmitted by the Bot 300. In another embodiment, the synchronization controller 306 may control the Bot 300 to transmit the wireless signal asynchronously with other Bots. In another embodiment, each of the Bot 300 and other Bots may transmit the wireless signals individually and asynchronously.

The carrier configurator 320 is an optional component in Bot 300 to configure transmission resources, e.g. time and carrier, for transmitting the wireless signal generated by the wireless signal generator 322. In one embodiment, each CI of the time series of CI has one or more components each corresponding to a carrier or sub-carrier of the transmission of the wireless signal. The wireless human recognition may be based on any one or any combination of the components.

The power module 308 can include a power source such as one or more batteries, and a power regulator, to provide regulated power to each of the above-described modules in FIG. 3. In some embodiments, if the Bot 300 is coupled to a dedicated external power source (e.g., a wall electrical outlet), the power module 308 can include a transformer and a power regulator.

The various modules discussed above are coupled together by a bus system 330. The bus system 330 can include a data bus and, for example, a power bus, a control signal bus, and/or a status signal bus in addition to the data bus. It is understood that the modules of the Bot 300 can be operatively coupled to one another using any suitable techniques and mediums.

Although a number of separate modules or components are illustrated in FIG. 3, persons of ordinary skill in the art will understand that one or more of the modules can be combined or commonly implemented. For example, the processor 302 can implement not only the functionality described above with respect to the processor 302, but also implement the functionality described above with respect to the wireless signal generator 322. Conversely, each of the modules illustrated in FIG. 3 can be implemented using a plurality of separate components or elements.

FIG. 4 illustrates an exemplary block diagram of a second wireless device, e.g. an Origin 400, of a human recognition system, according to one embodiment of the present teaching. The Origin 400 is an example of a device that can be configured to implement the various methods described herein. The Origin 400 in this example may serve as Origin 112 in FIG. 1 for wirelessly human recognition in a venue. As shown in FIG. 4, the Origin 400 includes a housing 440 containing a processor 402, a memory 404, a transceiver 410 comprising a transmitter 412 and a receiver 414, a power module 408, a synchronization controller 406, a channel information extractor 420, and an optional motion detector 422.

In this embodiment, the processor 402, the memory 404, the transceiver 410 and the power module 408 work similarly to the processor 302, the memory 304, the transceiver 310 and the power module 308 in the Bot 300. An antenna 450 or a multi-antenna array 450 is typically attached to the housing 440 and electrically coupled to the transceiver 410.

The Origin 400 may be a second wireless device that has a different type from that of the first wireless device (e.g. the Bot 300). In particular, the channel information extractor 420 in the Origin 400 is configured for receiving the wireless signal through the wireless channel, and obtaining a time series of channel information (CI) of the wireless channel based on the wireless signal. The channel information extractor 420 may send the extracted CI to the optional motion detector 422 or to a motion detector outside the Origin 400 for wireless human recognition in the venue.

The motion detector 422 is an optional component in the Origin 400. In one embodiment, it is within the Origin 400 as shown in FIG. 4. In another embodiment, it is outside the Origin 400 and in another device, which may be a Bot, another Origin, a cloud server, a fog server, a local server, and an edge server. The optional motion detector 422 may be configured for detecting gait feature of a person moving in the venue based on motion information. The motion information is computed based on the time series of CI by the motion detector 422 or another motion detector outside the Origin 400.

The synchronization controller 406 in this example may be configured to control the operations of the Origin 400 to be synchronized or un-synchronized with another device, e.g. a Bot, another Origin, or an independent motion detector. In one embodiment, the synchronization controller 406 may control the Origin 400 to be synchronized with a Bot that transmits a wireless signal. In another embodiment, the synchronization controller 406 may control the Origin 400 to receive the wireless signal asynchronously with other Origins. In another embodiment, each of the Origin 400 and other Origins may receive the wireless signals individually and asynchronously. In one embodiment, the optional motion detector 422 or a motion detector outside the Origin 400 is configured for asynchronously computing respective heterogeneous motion information based on the respective time series of CI.

The various modules discussed above are coupled together by a bus system 430. The bus system 430 can include a data bus and, for example, a power bus, a control signal bus, and/or a status signal bus in addition to the data bus. It is understood that the modules of the Origin 400 can be operatively coupled to one another using any suitable techniques and mediums.

Although a number of separate modules or components are illustrated in FIG. 4, persons of ordinary skill in the art will understand that one or more of the modules can be combined or commonly implemented. For example, the processor 402 can implement not only the functionality described above with respect to the processor 402, but also implement the functionality described above with respect to the channel information extractor 420. Conversely, each of the modules illustrated in FIG. 4 can be implemented using a plurality of separate components or elements.

FIG. 5 illustrates a flow chart of an exemplary method 500 for human recognition based on gait cube feature using mmWave signal, according to some embodiments of the present disclosure. In various embodiments, the method 500 can be performed by the systems disclosed above. At operation 502, a first wireless signal, e.g. a mmWave signal, is transmitted through a wireless channel of a venue. At operation 504, a second wireless signal is received through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue. At operation 506, a time series of channel information (CI) of the wireless channel is obtained based on the second wireless signal. At operation 508, a presence of a person moving in the venue is determined based on the time series of CI (TSCI). At operation 510, at least one gait feature of the person is extracted from the TSCI. At operation 512, an identity of the person is recognized based on the at least one gait feature, e.g. using a deep learning model. The order of the operations in FIG. 5 may be changed according to various embodiments of the present teaching.

In some embodiments, a method of a human recognition system includes steps s1 to s12 as described below.

At step s1: the system captures reflected signals from objects and/or sources, e.g. using a mmWave radio device including multiple transmit (Tx) and multiple receive (Rx) antennas. The signals are received using frequency modulated carrier wave (FMCW) waveforms, where a signal from a particular distance is defined as g(t,τ), g(t,τ)=α_(l)(t)exp(−j2πf_(c)τ_(l)(t)), with t denoting long-time, and τ denoting short time.

At step s2: the system converts the FMCW waveforms into channel impulse response (CIR) by applying Fast Fourier Transform (FFT) on the short-time index τ for all different τ within a period of time. The resulting CIR is denoted as Y(r,k).

At step s3: the system detects the presence of a person based on the following. Time frame k is represented by n_(k)(i)

((k−1)(N_(f)−N_(ov))+i) for i∈{1, . . . , N_(f)−1}, where N_(f) represents the number of samples per frame and N_(ov) represents the amount of overlap between frames. For each time frame, the system calculates the variance of Y(r,k), and denotes the variance with Z_(Y)(r,k), which is called a time-range-variance signal. In some embodiments, the system extracts peaks on the time-range-variance signal to detect the presence of a body. In other embodiments, the system extracts outliers on the time-range-variance signal to detect the presence of a body, where the outlier detection can be based on absolute deviation, variance within a frame, or any other method. In other embodiments, the system detects the presence of a body on the time-range-variance signal by applying a predetermined hard threshold T*, where T* can vary based on distance from the receiver. In other words, Z_(Y)(r,k) is compared with a T*(r) for each r.

In other embodiments, step s3 can be performed by applying constant false alarm rate (CFAR) detection rule on a 3D radar spectrogram, which is the short-time Fourier Transform of Y(r,k), for each time frame n_(k)(1, . . . N_(ov)). For example, the 3D radar spectrogram may be defined as G(f,r,k)=|Σ_(i=0) ^(N) ^(f) ⁻¹W(i)Y(r,n_(k)(i))exp(2jπiTf/N_(f))|², where W(i) is a windowing function to balance between time and frequency resolution. This step results in detected locations of the person.

At step s4, in order to ensure continuity of person traces, and remove background noise and erroneous detections, the system extracts the trace of a person with certain considerations.

In some embodiments, step s4 includes the following. The system defines a trace on Y(r,k) as p, and construct the optimum p based on multiple criteria. These criteria may include: i) cost function based on smoothness of a trace, ii) cost function based on detection results and strength on Z_(Y)(r,k) or G(f,r,k). A smoothness cost function can include a measurement of displacement between the two consecutive time indices calculated, and can be based on hard thresholding (e.g. the cost would be infinite beyond a threshold), or soft thresholding (e.g. exponentially increasing cost beyond a threshold). A cost function based on detection results and strength can again be based on soft thresholding using peak heights/variance/energy in spectrogram, or detection results (0/1). The cost functions can also be distance dependent, similar to T*(r) in step s3.

In other embodiments, step s4 includes using the spectrogram for each time index to calculate the peak and Doppler shift for each time index. These results can be used to estimate the speed of a person for each potential index. A cost function on the person trace can be calculated. This cost function can also include smoothness, a consistency between the estimated speed and the speed based on the trace, peak heights, or detection results on the spectrogram.

At step s5, using the estimated traces of a person, which could also be stationary, the system can extract time indices when the person is actually moving. This detection may be based on hard thresholding of the speed estimates and based on the person's trace. Step s5 may include sub-steps s5 a and s5 b.

At sub-step s5 a, the system can estimate the speed based on the trace. As the person's trace is quantized with respect to possible range index, this estimation requires calculating the difference of the trace with multiple steps. In other words, the location at time index (i) is subtracted from location at time index (i+D), where D is the difference to ensure smoothness.

At sub-step s5 b, based on the speed estimates, the system can determine time index with walking towards or away from the device. In some embodiments, the speed estimates are compared with two thresholds, and has a memory block, in order to reduce false alarms/speed deviations. Namely, motion index for time t, m(t) is calculated as:

${m(t)} = \left( {\begin{matrix} {1,} & {{{v(t)}} > v_{walk}} \\ {0,} & {{{{v(t)}} < {v_{stat}\mspace{14mu}{or}\mspace{14mu} t}} = 0} \\ {m\left( {t - 1} \right)} & {otherwise} \end{matrix}.} \right.$ Here, two thresholds, v_(walk) and v_(stat) enables the estimated speed to fluctuate between (v_(walk), v_(stat)) without changing any decision. Furthermore, arbitrary motion that is not related to walking can be eliminated by selecting the minimum speed estimation carefully, namely v_(walk).

In other embodiments, more basic thresholding methods can be applied at sub-step s5 b to detect walking time indices, although they would be more prone to false alarms.

At step s6, having extracted the location of the person with time indices that only includes walking, the system can extract the spectrogram at these locations and times, and nearby index, if not done during presence detection. This ensures a lower computational complexity, as the G(f,r,k) is only calculated for the r and k of interest. One can denote this normalized spectrogram as G_(align) (f,r,k), which only spans a limited range of ranges (r) and time index (k).

At step s7, in order to achieve the minimal representation of gait, which is a single step, the system can extract each step. This step may include sub-steps s7 a.

At sub-step s7 a, the periodicity of a step event is estimated based on the energy of G_(align)(f,r,k). Since the cross-sectional area of the body changes periodically, this results in periodic changes in the reflected energy.

In some embodiments, sub-step s7 a includes smoothing the energy curve, combining the energy components from nearby range bins, and extracting peaks on the energy curve. This extracts each walking step on the trace. This sub-step may require detrending the energy function, as it also depends on the range.

In some embodiments, sub-step s7 a includes calculating Fourier transform of the energy and extracting the peak location to find the average periodicity of walk.

In other embodiments, sub-step s7 a includes calculating autocorrelation function on the energy function, and finding the first peak. This gives the average periodicity of the walk.

In other embodiments, sub-step s7 a includes estimating the periodicity on the G_(align)(f,r,k) by calculating autocorrelation function with respect to the time index.

At step s8, using the extracted steps, and walking cycles, the system can verify validity of each step. Gait cycle validation may use multiple static and dynamic thresholds to remove acceleration and deceleration steps. This may include sub-steps s8 a and s8 b.

In some embodiments, sub-step s8 a includes using a static minimum threshold based on gait duration and stride length. Final and/or beginning steps usually have much less distance travelled with shorter period of time, and this sub-step s8 a removes some of them.

In some embodiments, sub-step s8 b includes extracting a mean or median gait duration, speed and stride length, and removing steps based on these parameters, if any of them are lower than 75% of these three parameters.

In other embodiments, sub-step s8 b includes extracting first/final steps based on other outlier based criterion, by comparing them with the bulk/mean of the multiple step observations, since the first/final steps are different when compared to the other steps.

At step s9, the system performs dimensionality reduction. Since there is a lot of redundancy with respect to multiple dimensions, the system removes unnecessary information for gait and human recognition. This includes sub-steps s9 a to s9 c.

In some embodiments, sub-step s9 a includes reducing dimensionality of frequency component of G_(align)(f,r,k) by removing speeds/frequencies that are not part of the moving body. For example, for a body moving towards the radar, all of the Doppler shifts will be positive, and the signature of walk will be observed for f>0, since only positive is needed. The system can use hard thresholds on minimum and maximum frequencies to remove unnecessary signal component(s).

In some embodiments, sub-step s9 b includes reducing dimensionality of range component of G_(align)(f,r,k) by downsampling. Nearby ranges are highly correlated and can be removed without losing much information. Furthermore, sub-step s9 b may include removing time indices with r<T_(r), for walking away from the device, as these correspond to the body parts behind torso, and affected by multipath components.

In some embodiments, sub-step s9 c includes reducing dimensionality of time component of G_(align)(f,r,k) by resampling into a fixed dimension. Other methods, such as down sampling can also be used.

At step s10, the system can extract physical features. For example, using the trace of the person, and walking time indices extracted in step s7, the system can extract average and variance of stride length, gait duration and speed of the person.

At step s11, the system can use a deep learning based classifier. This may include sub-steps s11 a and s11 b.

In some embodiments, sub-step s11 a includes using dimension reduction output of G_(align)(f,r,k) to train a basic CNN module to register each user. The classifier may receive the output of CNN and the features extracted in step s10, as inputs to the classifier. In other embodiments, the classifier can be trained without the G_(align)(f,r,k) or the physical features in step s10 as well.

In some embodiments, sub-step s11 b includes synthetically boosting the dataset size by using each antenna as a separate realization of the same walk, and therefore improving robustness.

At step s12, the system can classify the person as one of registered users, e.g. based on the output of the CNN and the extracted gait feature of the person.

The following numbered clauses provide implementation examples for wirelessly recognizing a person based on gait feature of the person.

Clause 1. A system for human recognition, comprising: a transmitter configured to transmit a first wireless signal through a wireless channel of a venue; a receiver configured to receive a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; and a processor configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature.

Clause 2. The system of clause 1, wherein: each CI comprises a CIR calculated based on frequency modulated carrier wave (FMCW) waveforms; the TSCI is a function of a time frame and a distance range from the receiver; and the first wireless signal is carried on a millimeter wave.

Clause 3. The system of clause 2, wherein determining the presence of the person comprises: calculating a time-range variance signal based on variances of the TSCI for each time frame; and detecting the presence of the person based on at least one of: extracting peaks on the time-range variance signal, extracting outliers on the time-range variance signal, or comparing, for each distance range from the receiver, the time-range variance signal with a threshold that varies based on the distance range.

Clause 4. The system of clause 3, wherein determining the presence of the person comprises: calculating a radar spectrogram based on a short-time Fourier transform of the TSCI for each time frame; and applying a constant false alarm rate (CFAR) detection rule on the radar spectrogram to detect the presence of the person.

Clause 5. The system of clause 4, wherein the processor is further configured for: estimating a moving trace of the person based on a cost function and a threshold, wherein the cost function is calculated based on at least one of: a measurement of discrepancy of the time-range variance signal between every two consecutive time frames, a measurement of discrepancy of the radar spectrogram between every two consecutive time frames, peak heights in the radar spectrogram, peak heights in the time-range variance signal, or a variance of the radar spectrogram.

Clause 6. The system of clause 5, wherein the cost function is dependent on the distance from the receiver.

Clause 7. The system of clause 6, wherein the processor is further configured for: estimating, for each time frame, a speed of the person based on peaks in the radar spectrogram and a Doppler shift; and estimating the moving trace of the person based on a cost function calculated based on a measurement of discrepancy of the speed between every two consecutive time frames.

Clause 8. The system of clause 6, wherein the processor is further configured for: estimating, for each time frame, a speed of the person based on the moving trace of the person; comparing, for each time frame, the estimated speed of the person with two thresholds to generate comparison results; and extracting a subset of time frames during which the person is moving towards or away from the receiver, based on the comparison results at each time frame.

Clause 9. The system of clause 8, wherein the processor is further configured for: extracting a subset of locations of the person at the subset of time frames from the moving trace of the person; and calculating a normalized spectrogram based on the subset of locations and the subset of time frames, wherein the normalized spectrogram is a function of: a frequency, a time frame and a distance range from the receiver.

Clause 10. The system of clause 9, wherein extracting the at least one gait feature of the person from the TSCI comprises: extracting steps of the person based on the normalized spectrogram; and determining an average moving periodicity of the person.

Clause 11. The system of clause 10, wherein the average moving periodicity is determined based on: calculating an energy function of the normalized spectrogram; and extracting peak locations of the energy function to determine the average moving periodicity.

Clause 12. The system of clause 10, wherein the average moving periodicity is determined based on: calculating a Fourier transform of an energy function of the normalized spectrogram; and extracting peak locations of the Fourier transform to determine the average moving periodicity.

Clause 13. The system of clause 10, wherein the average moving periodicity is determined based on: calculating an autocorrelation function of an energy function of the normalized spectrogram; and extracting a location of the first peak of the autocorrelation function to determine the average moving periodicity.

Clause 14. The system of clause 10, wherein the average moving periodicity is determined based on: calculating an autocorrelation function of the normalized spectrogram; and determining the average moving periodicity based on the autocorrelation function.

Clause 15. The system of clause 10, wherein extracting the at least one gait feature of the person from the TSCI comprises: removing, from the extracted steps of the person, each step having a gait duration below a duration threshold and/or each step having a stride length below a length threshold.

Clause 16. The system of clause 15, wherein extracting the at least one gait feature of the person from the TSCI comprises: calculating a mean or median of parameters of the extracted steps, wherein the parameters include at least one of: the gait duration, the speed or the stride length; and removing each step that has any of the parameters lower than 75% of the mean or median.

Clause 17. The system of clause 16, wherein extracting the at least one gait feature of the person from the TSCI comprises: removing, from the extracted steps of the person, first one or more steps after the person starts moving; and removing, from the extracted steps of the person, last one or more steps before the person stops moving.

Clause 18. The system of clause 17, wherein extracting the at least one gait feature of the person from the TSCI comprises: determining a moving direction of the person based on the moving trace of the person; and removing, from the normalized spectrogram, each frequency component that is not part of the moving body of the person based on the moving direction of the person.

Clause 19. The system of clause 18, wherein extracting the at least one gait feature of the person from the TSCI comprises: reducing dimensionality of distance range components of the normalized spectrogram by downsampling the normalized spectrogram with respect to the distance range from the receiver.

Clause 20. The system of clause 19, wherein extracting the at least one gait feature of the person from the TSCI comprises: removing, from the normalized spectrogram, each distance range component that corresponds to a distance range less than a threshold from the receiver, when the person is walking away from the receiver.

Clause 21. The system of clause 20, wherein extracting the at least one gait feature of the person from the TSCI comprises: extracting, from the moving trace of the person, the at least one gait feature of the person based on left components of the normalized spectrogram after reducing dimensionality.

Clause 22. The system of clause 21, wherein the at least one gait feature includes an average and/or variance of at least one of: stride length, gait duration or speed of the person.

Clause 23. The system of clause 22, wherein recognizing the identity of the person comprises: classifying the person as one of known users or an unknown identity, based on a deep learning model and the at least one gait feature of the person.

Clause 24. The system of clause 23, wherein the deep learning model is pre-trained to register each of the known users based on a fixed and same size of normalized spectrogram for each user.

Clause 25. The system of clause 24, wherein the processor is further configured for: registering the person as a new user by training the deep learning model based on the left components of the normalized spectrogram with reduced dimensionality, when the person is classified as an unknown identity.

Clause 26. The system of clause 25, wherein the normalized spectrogram with reduced dimensionality has a same dimensionality as that of each trained user.

Clause 27. A wireless device of a human recognition system, comprising: a processor; a memory communicatively coupled to the processor; and a receiver communicatively coupled to the processor, wherein: an additional wireless device of the human recognition system is configured to transmit a first wireless signal through a wireless channel of a venue, the receiver is configured to receive a second wireless signal through the wireless channel, the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue, and the processor is configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature.

Clause 28. The wireless device of clause 27, wherein: each CI comprises a CIR; the TSCI is a function of a time frame and a distance range from the receiver; and the first wireless signal is carried on a millimeter wave.

Clause 29. The wireless device of clause 28, wherein determining the presence of the person comprises: calculating a time-range variance signal based on variances of the TSCI for each time frame; and detecting the presence of the person based on at least one of: extracting peaks on the time-range variance signal, extracting outliers on the time-range variance signal, comparing, for each distance range from the receiver, the time-range variance signal with a threshold that varies based on the distance range, or applying a constant false alarm rate (CFAR) detection rule on a radar spectrogram calculated based on a short-time Fourier transform of the TSCI for each time frame.

Clause 30. A method of a human recognition system, comprising: transmitting a first wireless signal through a wireless channel of a venue; receiving a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal; determining a presence of a person moving in the venue based on the time series of CI (TSCI); extracting at least one gait feature of the person from the TSCI; and recognizing an identity of the person based on the at least one gait feature.

The features described above may be implemented advantageously in one or more computer programs that are executable on a programmable system including at least one programmable processor coupled to receive data and instructions from, and to transmit data and instructions to, a data storage system, at least one input device, and at least one output device. A computer program is a set of instructions that may be used, directly or indirectly, in a computer to perform a certain activity or bring about a certain result. A computer program may be written in any form of programming language (e.g., C, Java), including compiled or interpreted languages, and it may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, a browser-based web application, or other unit suitable for use in a computing environment.

Suitable processors for the execution of a program of instructions include, e.g., both general and special purpose microprocessors, digital signal processors, and the sole processor or one of multiple processors or cores, of any kind of computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a processor for executing instructions and one or more memories for storing instructions and data. Generally, a computer will also include, or be operatively coupled to communicate with, one or more mass storage devices for storing data files; such devices include magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and optical disks. Storage devices suitable for tangibly embodying computer program instructions and data include all forms of non-volatile memory, including by way of example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory may be supplemented by, or incorporated in, ASICs (application-specific integrated circuits).

While the present teaching contains many specific implementation details, these should not be construed as limitations on the scope of the present teaching or of what may be claimed, but rather as descriptions of features specific to particular embodiments of the present teaching. Certain features that are described in this specification in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may also be implemented in multiple embodiments separately or in any suitable sub-combination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems may generally be integrated together in a single software product or packaged into multiple software products.

Particular embodiments of the subject matter have been described. Any combination of the features and architectures described above is intended to be within the scope of the following claims. Other embodiments are also within the scope of the following claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous. 

We claim:
 1. A system for human recognition, comprising: a transmitter configured to transmit a first wireless signal through a wireless channel of a venue; a receiver configured to receive a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; and a processor configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature, wherein recognizing the identity of the person comprises classifying the person as one of known users or an unknown identity, based on a deep learning model and the at least one gait feature of the person, wherein the deep learning model is pre-trained to register each of the known users based on a fixed and same size of normalized spectrogram for each user.
 2. The system of claim 1, wherein: each CI comprises a channel impulse response (CIR) calculated based on frequency modulated carrier wave (FMCW) waveforms; the TSCI is a function of a time frame and a distance range from the receiver; and the first wireless signal is carried on a millimeter wave.
 3. The system of claim 2, wherein determining the presence of the person comprises: calculating a time-range variance signal based on variances of the TSCI for each time frame; and detecting the presence of the person based on at least one of: extracting peaks on the time-range variance signal, extracting outliers on the time-range variance signal, or comparing, for each distance range from the receiver, the time-range variance signal with a threshold that varies based on the distance range.
 4. The system of claim 3, wherein determining the presence of the person comprises: calculating a radar spectrogram based on a short-time Fourier transform of the TSCI for each time frame; and applying a constant false alarm rate (CFAR) detection rule on the radar spectrogram to detect the presence of the person.
 5. The system of claim 4, wherein the processor is further configured for: estimating a moving trace of the person based on a cost function and a threshold, wherein the cost function is calculated based on at least one of: a measurement of discrepancy of the time-range variance signal between every two consecutive time frames, a measurement of discrepancy of the radar spectrogram between every two consecutive time frames, peak heights in the radar spectrogram, peak heights in the time-range variance signal, or a variance of the radar spectrogram.
 6. The system of claim 5, wherein the cost function is dependent on the distance from the receiver.
 7. The system of claim 6, wherein the processor is further configured for: estimating, for each time frame, a speed of the person based on peaks in the radar spectrogram and a Doppler shift; and estimating the moving trace of the person based on a cost function calculated based on a measurement of discrepancy of the speed between every two consecutive time frames.
 8. The system of claim 6, wherein the processor is further configured for: estimating, for each time frame, a speed of the person based on the moving trace of the person; comparing, for each time frame, the estimated speed of the person with two thresholds to generate comparison results; and extracting a subset of time frames during which the person is moving towards or away from the receiver, based on the comparison results at each time frame.
 9. The system of claim 8, wherein the processor is further configured for: extracting a subset of locations of the person at the subset of time frames from the moving trace of the person; and calculating a normalized spectrogram based on the subset of locations and the subset of time frames, wherein the normalized spectrogram is a function of: a frequency, a time frame and a distance range from the receiver.
 10. The system of claim 9, wherein extracting the at least one gait feature of the person from the TSCI comprises: extracting steps of the person based on the normalized spectrogram; and determining an average moving periodicity of the person.
 11. The system of claim 10, wherein the average moving periodicity is determined based on: calculating an energy function of the normalized spectrogram; and extracting peak locations of the energy function to determine the average moving periodicity.
 12. The system of claim 10, wherein the average moving periodicity is determined based on: calculating a Fourier transform of an energy function of the normalized spectrogram; and extracting peak locations of the Fourier transform to determine the average moving periodicity.
 13. The system of claim 10, wherein the average moving periodicity is determined based on: calculating an autocorrelation function of an energy function of the normalized spectrogram; and extracting a location of the first peak of the autocorrelation function to determine the average moving periodicity.
 14. The system of claim 10, wherein the average moving periodicity is determined based on: calculating an autocorrelation function of the normalized spectrogram; and determining the average moving periodicity based on the autocorrelation function.
 15. The system of claim 10, wherein extracting the at least one gait feature of the person from the TSCI comprises: removing, from the extracted steps of the person, each step having a gait duration below a duration threshold and/or each step having a stride length below a length threshold.
 16. The system of claim 15, wherein extracting the at least one gait feature of the person from the TSCI comprises: calculating a mean or median of parameters of the extracted steps, wherein the parameters include at least one of: the gait duration, the speed or the stride length; and removing each step that has any of the parameters lower than 75% of the mean or median.
 17. The system of claim 16, wherein extracting the at least one gait feature of the person from the TSCI comprises: removing, from the extracted steps of the person, first one or more steps after the person starts moving; and removing, from the extracted steps of the person, last one or more steps before the person stops moving.
 18. The system of claim 17, wherein extracting the at least one gait feature of the person from the TSCI comprises: determining a moving direction of the person based on the moving trace of the person; and removing, from the normalized spectrogram, each frequency component that is not part of the moving body of the person based on the moving direction of the person.
 19. The system of claim 18, wherein extracting the at least one gait feature of the person from the TSCI comprises: reducing dimensionality of distance range components of the normalized spectrogram by downsampling the normalized spectrogram with respect to the distance range from the receiver.
 20. The system of claim 19, wherein extracting the at least one gait feature of the person from the TSCI comprises: removing, from the normalized spectrogram, each distance range component that corresponds to a distance range less than a threshold from the receiver, when the person is walking away from the receiver.
 21. The system of claim 20, wherein extracting the at least one gait feature of the person from the TSCI comprises: extracting, from the moving trace of the person, the at least one gait feature of the person based on left components of the normalized spectrogram after reducing dimensionality.
 22. The system of claim 21, wherein the at least one gait feature includes an average and/or variance of at least one of: stride length, gait duration or speed of the person.
 23. The system of claim 1, wherein the processor is further configured for: registering the person as a new user by training the deep learning model based on the left components of the normalized spectrogram with reduced dimensionality, when the person is classified as an unknown identity.
 24. The system of claim 23, wherein the normalized spectrogram with reduced dimensionality has a same dimensionality as that of each trained user.
 25. A wireless device of a human recognition system, comprising: a processor; a memory communicatively coupled to the processor; and a receiver communicatively coupled to the processor, wherein: an additional wireless device of the human recognition system is configured to transmit a first wireless signal through a wireless channel of a venue, the receiver is configured to receive a second wireless signal through the wireless channel, the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue, and the processor is configured for: obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal, determining a presence of a person moving in the venue based on the time series of CI (TSCI), extracting at least one gait feature of the person from the TSCI, and recognizing an identity of the person based on the at least one gait feature, wherein recognizing the identity of the person comprises classifying the person as one of known users or an unknown identity, based on a deep learning model and the at least one gait feature of the person, wherein the deep learning model is pre-trained to register each of the known users based on a fixed and same size of normalized spectrogram for each user.
 26. The wireless device of claim 25, wherein: each CI comprises a channel impulse response (CIR); the TSCI is a function of a time frame and a distance range from the receiver; and the first wireless signal is carried on a millimeter wave.
 27. The wireless device of claim 26, wherein determining the presence of the person comprises: calculating a time-range variance signal based on variances of the TSCI for each time frame; and detecting the presence of the person based on at least one of: extracting peaks on the time-range variance signal, extracting outliers on the time-range variance signal, comparing, for each distance range from the receiver, the time-range variance signal with a threshold that varies based on the distance range, or applying a constant false alarm rate (CFAR) detection rule on a radar spectrogram calculated based on a short-time Fourier transform of the TSCI for each time frame.
 28. A method of a human recognition system, comprising: transmitting a first wireless signal through a wireless channel of a venue; receiving a second wireless signal through the wireless channel, wherein the second wireless signal comprises a reflection of the first wireless signal by at least one object in the venue; obtaining a time series of channel information (CI) of the wireless channel based on the second wireless signal; determining a presence of a person moving in the venue based on the time series of CI (TSCI); extracting at least one gait feature of the person from the TSCI; and recognizing an identity of the person based on the at least one gait feature, wherein recognizing the identity of the person comprises classifying the person as one of known users or an unknown identity, based on a deep learning model and the at least one gait feature of the person, wherein the deep learning model is pre-trained to register each of the known users based on a fixed and same size of normalized spectrogram for each user. 